7.525 * [progress]: [Phase 1 of 3] Setting up.
0.002 * * * [progress]: [1/2] Preparing points
0.139 * * * [progress]: [2/2] Setting up program.
0.143 * [progress]: [Phase 2 of 3] Improving.
0.143 * [simplify]: Simplifying:
  (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
0.143 * * [simplify]: Extracting # 0 : cost  0
0.143 * * [simplify]: Extracting # 1 : cost  0
0.143 * * [simplify]: Extracting # 2 : cost  0
0.143 * * [simplify]: Extracting # 3 : cost  0
0.143 * * [simplify]: Extracting # 4 : cost  0
0.143 * * [simplify]: Extracting # 5 : cost  0
0.143 * * [simplify]: Extracting # 6 : cost  0
0.143 * * [simplify]: Extracting # 7 : cost  0
0.143 * * [simplify]: Extracting # 8 : cost  0
0.143 * * [simplify]: Extracting # 9 : cost  0
0.143 * * [simplify]: Extracting # 10 : cost  0
0.143 * * [simplify]: Extracting # 11 : cost  0
0.143 * * [simplify]: Extracting # 12 : cost  0
0.143 * * [simplify]: iteration  0 :  17  enodes  (cost  32 )
0.146 * * [simplify]: Extracting # 0 : cost  0
0.147 * * [simplify]: Extracting # 1 : cost  0
0.147 * * [simplify]: Extracting # 2 : cost  0
0.147 * * [simplify]: iteration  1 :  32  enodes  (cost  32 )
0.153 * * [simplify]: Extracting # 0 : cost  0
0.153 * * [simplify]: Extracting # 1 : cost  0
0.153 * * [simplify]: Extracting # 2 : cost  0
0.153 * * [simplify]: iteration  2 :  69  enodes  (cost  32 )
0.197 * * [simplify]: Extracting # 0 : cost  0
0.198 * * [simplify]: Extracting # 1 : cost  0
0.198 * * [simplify]: Extracting # 2 : cost  0
0.198 * * [simplify]: iteration  3 :  240  enodes  (cost  32 )
0.334 * * [simplify]: Extracting # 0 : cost  0
0.335 * * [simplify]: Extracting # 1 : cost  0
0.336 * * [simplify]: Extracting # 2 : cost  0
0.337 * * [simplify]: iteration  4 :  960  enodes  (cost  32 )
1.689 * * [simplify]: Extracting # 0 : cost  0
1.696 * * [simplify]: Extracting # 1 : cost  0
1.701 * * [simplify]: Extracting # 2 : cost  0
1.706 * * [simplify]: Extracting # 3 : cost  0
1.718 * * [simplify]: Extracting # 4 : cost  0
1.727 * * [simplify]: iteration done:  5000  enodes  (cost  32 )
1.727 * [simplify]: Simplified to:
  (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
1.728 * * [progress]: iteration 1 / 4
1.728 * * * [progress]: picking best candidate
1.735 * * * * [pick]: Picked  #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))>
1.735 * * * [progress]: localizing error
1.780 * * * [progress]: generating rewritten candidates
1.781 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2)
1.968 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2)
1.990 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2)
2.004 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1)
2.091 * * * [progress]: generating series expansions
2.091 * * * * [progress]: [ 1 / 4 ] generating series at (2 2)
2.092 * [backup-simplify]: Simplify (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
2.092 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda1 lambda2 phi1 phi2) around 0
2.092 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2
2.092 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2
2.092 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2
2.092 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
2.092 * [taylor]: Taking taylor expansion of phi2 in phi2
2.092 * [backup-simplify]: Simplify 0 into 0
2.092 * [backup-simplify]: Simplify 1 into 1
2.093 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2
2.093 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2
2.093 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
2.093 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.093 * [backup-simplify]: Simplify lambda2 into lambda2
2.093 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
2.093 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
2.093 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
2.093 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.093 * [backup-simplify]: Simplify 0.5 into 0.5
2.093 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
2.093 * [taylor]: Taking taylor expansion of phi2 in phi2
2.093 * [backup-simplify]: Simplify 0 into 0
2.093 * [backup-simplify]: Simplify 1 into 1
2.093 * [taylor]: Taking taylor expansion of phi1 in phi2
2.093 * [backup-simplify]: Simplify phi1 into phi1
2.093 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
2.093 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
2.093 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
2.093 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
2.093 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
2.093 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
2.094 * [backup-simplify]: Simplify (- 0) into 0
2.094 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
2.094 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2
2.094 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
2.094 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
2.094 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
2.094 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
2.094 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.094 * [backup-simplify]: Simplify 0.5 into 0.5
2.094 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
2.094 * [taylor]: Taking taylor expansion of phi2 in phi2
2.094 * [backup-simplify]: Simplify 0 into 0
2.094 * [backup-simplify]: Simplify 1 into 1
2.094 * [taylor]: Taking taylor expansion of phi1 in phi2
2.094 * [backup-simplify]: Simplify phi1 into phi1
2.094 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
2.094 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
2.094 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
2.094 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
2.094 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
2.095 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
2.095 * [backup-simplify]: Simplify (- 0) into 0
2.095 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
2.095 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
2.095 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.095 * [backup-simplify]: Simplify lambda1 into lambda1
2.095 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
2.095 * [taylor]: Taking taylor expansion of phi1 in phi2
2.095 * [backup-simplify]: Simplify phi1 into phi1
2.095 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2
2.095 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
2.095 * [taylor]: Taking taylor expansion of 2 in phi2
2.095 * [backup-simplify]: Simplify 2 into 2
2.095 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
2.095 * [taylor]: Taking taylor expansion of phi2 in phi2
2.095 * [backup-simplify]: Simplify 0 into 0
2.095 * [backup-simplify]: Simplify 1 into 1
2.095 * [taylor]: Taking taylor expansion of phi1 in phi2
2.095 * [backup-simplify]: Simplify phi1 into phi1
2.095 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
2.095 * [taylor]: Taking taylor expansion of 2 in phi2
2.095 * [backup-simplify]: Simplify 2 into 2
2.095 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
2.095 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.095 * [backup-simplify]: Simplify lambda2 into lambda2
2.095 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
2.095 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
2.095 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
2.095 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
2.095 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.095 * [backup-simplify]: Simplify 0.5 into 0.5
2.095 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
2.095 * [taylor]: Taking taylor expansion of phi2 in phi2
2.095 * [backup-simplify]: Simplify 0 into 0
2.095 * [backup-simplify]: Simplify 1 into 1
2.095 * [taylor]: Taking taylor expansion of phi1 in phi2
2.096 * [backup-simplify]: Simplify phi1 into phi1
2.096 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
2.096 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
2.096 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
2.096 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
2.096 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
2.096 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
2.096 * [backup-simplify]: Simplify (- 0) into 0
2.096 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
2.096 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.096 * [backup-simplify]: Simplify lambda1 into lambda1
2.096 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.096 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
2.097 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))
2.097 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
2.097 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.097 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
2.097 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.098 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
2.099 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
2.100 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
2.100 * [backup-simplify]: Simplify (* 0 phi1) into 0
2.100 * [backup-simplify]: Simplify (* 2 0) into 0
2.101 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
2.101 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
2.101 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))
2.101 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
2.102 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
2.102 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))
2.104 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))
2.105 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))
2.106 * [backup-simplify]: Simplify (+ 0) into 0
2.107 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
2.108 * [backup-simplify]: Simplify (+ 1 0) into 1
2.109 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
2.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.112 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
2.112 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
2.112 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
2.112 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
2.113 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
2.113 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))
2.113 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
2.114 * [backup-simplify]: Simplify (+ 0) into 0
2.114 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
2.115 * [backup-simplify]: Simplify (+ 1 0) into 1
2.115 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
2.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.118 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
2.118 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
2.119 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
2.119 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
2.120 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
2.120 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.120 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
2.127 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))
2.128 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))
2.129 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
2.130 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
2.130 * [backup-simplify]: Simplify (+ 0) into 0
2.130 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
2.131 * [backup-simplify]: Simplify (+ 1 0) into 1
2.131 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
2.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.134 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
2.134 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
2.134 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
2.135 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
2.135 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
2.136 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
2.137 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
2.137 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
2.138 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))
2.139 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))))
2.143 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))))
2.143 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1
2.143 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1
2.143 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
2.143 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.143 * [taylor]: Taking taylor expansion of phi2 in phi1
2.143 * [backup-simplify]: Simplify phi2 into phi2
2.143 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
2.143 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1
2.143 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
2.143 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.143 * [backup-simplify]: Simplify lambda2 into lambda2
2.143 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.143 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.143 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.143 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.143 * [backup-simplify]: Simplify 0.5 into 0.5
2.143 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.143 * [taylor]: Taking taylor expansion of phi2 in phi1
2.143 * [backup-simplify]: Simplify phi2 into phi2
2.143 * [taylor]: Taking taylor expansion of phi1 in phi1
2.143 * [backup-simplify]: Simplify 0 into 0
2.143 * [backup-simplify]: Simplify 1 into 1
2.143 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.144 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.144 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.144 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.144 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.144 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.144 * [backup-simplify]: Simplify (- 0) into 0
2.145 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.145 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
2.145 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1
2.145 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.145 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.145 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.145 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.145 * [backup-simplify]: Simplify 0.5 into 0.5
2.145 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.145 * [taylor]: Taking taylor expansion of phi2 in phi1
2.145 * [backup-simplify]: Simplify phi2 into phi2
2.145 * [taylor]: Taking taylor expansion of phi1 in phi1
2.145 * [backup-simplify]: Simplify 0 into 0
2.145 * [backup-simplify]: Simplify 1 into 1
2.145 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.145 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.145 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.145 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.145 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.145 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.146 * [backup-simplify]: Simplify (- 0) into 0
2.146 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.146 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
2.146 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.146 * [backup-simplify]: Simplify lambda1 into lambda1
2.146 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.146 * [taylor]: Taking taylor expansion of phi1 in phi1
2.146 * [backup-simplify]: Simplify 0 into 0
2.146 * [backup-simplify]: Simplify 1 into 1
2.146 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1
2.146 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1
2.146 * [taylor]: Taking taylor expansion of 2 in phi1
2.146 * [backup-simplify]: Simplify 2 into 2
2.146 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.146 * [taylor]: Taking taylor expansion of phi2 in phi1
2.146 * [backup-simplify]: Simplify phi2 into phi2
2.146 * [taylor]: Taking taylor expansion of phi1 in phi1
2.147 * [backup-simplify]: Simplify 0 into 0
2.147 * [backup-simplify]: Simplify 1 into 1
2.147 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1
2.147 * [taylor]: Taking taylor expansion of 2 in phi1
2.147 * [backup-simplify]: Simplify 2 into 2
2.147 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1
2.147 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.147 * [backup-simplify]: Simplify lambda2 into lambda2
2.147 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1
2.147 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.147 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.147 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.147 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.147 * [backup-simplify]: Simplify 0.5 into 0.5
2.147 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.147 * [taylor]: Taking taylor expansion of phi2 in phi1
2.147 * [backup-simplify]: Simplify phi2 into phi2
2.147 * [taylor]: Taking taylor expansion of phi1 in phi1
2.147 * [backup-simplify]: Simplify 0 into 0
2.147 * [backup-simplify]: Simplify 1 into 1
2.147 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.147 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.147 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.147 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.147 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.148 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.148 * [backup-simplify]: Simplify (- 0) into 0
2.148 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.148 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.148 * [backup-simplify]: Simplify lambda1 into lambda1
2.148 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.148 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.149 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.149 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))
2.149 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.149 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.149 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))
2.150 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))
2.150 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))
2.151 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2)))
2.151 * [backup-simplify]: Simplify (* phi2 0) into 0
2.152 * [backup-simplify]: Simplify (* 2 0) into 0
2.152 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.152 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1)
2.153 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))
2.153 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
2.153 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
2.154 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))
2.155 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))
2.157 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))
2.157 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.157 * [backup-simplify]: Simplify (+ 0) into 0
2.157 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
2.158 * [backup-simplify]: Simplify (+ 0 1) into 1
2.158 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
2.160 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.160 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
2.160 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.160 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.160 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
2.160 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
2.161 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))
2.161 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
2.161 * [backup-simplify]: Simplify (+ 0) into 0
2.162 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
2.162 * [backup-simplify]: Simplify (+ 0 1) into 1
2.162 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
2.164 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.164 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
2.165 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.165 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.165 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
2.165 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))
2.166 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))
2.166 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))
2.167 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))
2.168 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.168 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
2.168 * [backup-simplify]: Simplify (+ 0) into 0
2.169 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
2.169 * [backup-simplify]: Simplify (+ 0 1) into 1
2.169 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
2.171 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.171 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
2.171 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.171 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.171 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
2.172 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))
2.172 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
2.172 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
2.173 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
2.173 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))
2.174 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))
2.176 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))))
2.176 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
2.176 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
2.176 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2
2.176 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.176 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.176 * [backup-simplify]: Simplify phi2 into phi2
2.176 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2
2.176 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.176 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.176 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.176 * [backup-simplify]: Simplify 0 into 0
2.176 * [backup-simplify]: Simplify 1 into 1
2.176 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.176 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.176 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.176 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.176 * [backup-simplify]: Simplify 0.5 into 0.5
2.176 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.176 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.176 * [backup-simplify]: Simplify phi2 into phi2
2.176 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.176 * [backup-simplify]: Simplify phi1 into phi1
2.176 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.176 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.176 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.176 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.176 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.177 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.177 * [backup-simplify]: Simplify (- 0) into 0
2.177 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.177 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2
2.177 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2
2.177 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.177 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.177 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.177 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.177 * [backup-simplify]: Simplify 0.5 into 0.5
2.177 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.177 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.177 * [backup-simplify]: Simplify phi2 into phi2
2.177 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.177 * [backup-simplify]: Simplify phi1 into phi1
2.177 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.177 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.177 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.177 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.178 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.178 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.178 * [backup-simplify]: Simplify (- 0) into 0
2.178 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.178 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
2.178 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.178 * [backup-simplify]: Simplify lambda1 into lambda1
2.178 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.178 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.178 * [backup-simplify]: Simplify phi1 into phi1
2.178 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
2.178 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
2.178 * [taylor]: Taking taylor expansion of 2 in lambda2
2.178 * [backup-simplify]: Simplify 2 into 2
2.178 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.178 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.178 * [backup-simplify]: Simplify phi2 into phi2
2.178 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.178 * [backup-simplify]: Simplify phi1 into phi1
2.178 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
2.178 * [taylor]: Taking taylor expansion of 2 in lambda2
2.178 * [backup-simplify]: Simplify 2 into 2
2.178 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
2.178 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.178 * [backup-simplify]: Simplify 0 into 0
2.178 * [backup-simplify]: Simplify 1 into 1
2.178 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
2.178 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.178 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.178 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.178 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.178 * [backup-simplify]: Simplify 0.5 into 0.5
2.178 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.178 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.179 * [backup-simplify]: Simplify phi2 into phi2
2.179 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.179 * [backup-simplify]: Simplify phi1 into phi1
2.179 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.179 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.179 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.179 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.179 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.179 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.179 * [backup-simplify]: Simplify (- 0) into 0
2.179 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.179 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.179 * [backup-simplify]: Simplify lambda1 into lambda1
2.179 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.179 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.180 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.180 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
2.180 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.180 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))
2.181 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))
2.181 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)))
2.181 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.181 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
2.181 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.181 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
2.182 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
2.182 * [backup-simplify]: Simplify (* 2 0) into 0
2.182 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
2.182 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
2.183 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))
2.183 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))
2.183 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.183 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
2.184 * [backup-simplify]: Simplify (+ 0) into 0
2.184 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.184 * [backup-simplify]: Simplify (+ 0 0) into 0
2.185 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.185 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.185 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.186 * [backup-simplify]: Simplify (- 0) into 0
2.186 * [backup-simplify]: Simplify (+ 0 0) into 0
2.186 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.186 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0
2.186 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.187 * [backup-simplify]: Simplify (+ 0 0) into 0
2.187 * [backup-simplify]: Simplify (+ 0 0) into 0
2.187 * [backup-simplify]: Simplify (+ 0 0) into 0
2.187 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
2.188 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
2.188 * [backup-simplify]: Simplify (+ 0) into 0
2.188 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.188 * [backup-simplify]: Simplify (+ 0 0) into 0
2.189 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.189 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.190 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.190 * [backup-simplify]: Simplify (- 0) into 0
2.190 * [backup-simplify]: Simplify (+ 0 0) into 0
2.190 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.190 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
2.191 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
2.191 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
2.192 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
2.192 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
2.192 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
2.193 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
2.193 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1
2.193 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1
2.193 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1
2.193 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
2.193 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.193 * [backup-simplify]: Simplify phi2 into phi2
2.193 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1
2.193 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1
2.193 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
2.193 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.193 * [backup-simplify]: Simplify lambda2 into lambda2
2.193 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
2.193 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
2.193 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
2.193 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.193 * [backup-simplify]: Simplify 0.5 into 0.5
2.193 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
2.193 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.193 * [backup-simplify]: Simplify phi2 into phi2
2.193 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.193 * [backup-simplify]: Simplify phi1 into phi1
2.193 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.194 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.194 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.194 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.194 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.194 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.194 * [backup-simplify]: Simplify (- 0) into 0
2.194 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.194 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1
2.194 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1
2.194 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
2.194 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
2.194 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
2.194 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.194 * [backup-simplify]: Simplify 0.5 into 0.5
2.194 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
2.194 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.194 * [backup-simplify]: Simplify phi2 into phi2
2.195 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.195 * [backup-simplify]: Simplify phi1 into phi1
2.195 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.195 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.195 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.195 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.195 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.195 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.195 * [backup-simplify]: Simplify (- 0) into 0
2.195 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.195 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
2.195 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.195 * [backup-simplify]: Simplify 0 into 0
2.195 * [backup-simplify]: Simplify 1 into 1
2.195 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
2.195 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.195 * [backup-simplify]: Simplify phi1 into phi1
2.195 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1
2.195 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1
2.195 * [taylor]: Taking taylor expansion of 2 in lambda1
2.196 * [backup-simplify]: Simplify 2 into 2
2.196 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
2.196 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.196 * [backup-simplify]: Simplify phi2 into phi2
2.196 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.196 * [backup-simplify]: Simplify phi1 into phi1
2.196 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1
2.196 * [taylor]: Taking taylor expansion of 2 in lambda1
2.196 * [backup-simplify]: Simplify 2 into 2
2.196 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1
2.196 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.196 * [backup-simplify]: Simplify lambda2 into lambda2
2.196 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1
2.196 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
2.196 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
2.196 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
2.196 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.196 * [backup-simplify]: Simplify 0.5 into 0.5
2.196 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
2.196 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.196 * [backup-simplify]: Simplify phi2 into phi2
2.196 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.196 * [backup-simplify]: Simplify phi1 into phi1
2.196 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.196 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.196 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.196 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.196 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.196 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.197 * [backup-simplify]: Simplify (- 0) into 0
2.197 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.197 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.197 * [backup-simplify]: Simplify 0 into 0
2.197 * [backup-simplify]: Simplify 1 into 1
2.197 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.197 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.197 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.197 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2))
2.197 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.197 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
2.198 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))
2.198 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2)))
2.198 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.198 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
2.198 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.198 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0
2.199 * [backup-simplify]: Simplify (* lambda2 0) into 0
2.199 * [backup-simplify]: Simplify (* 2 0) into 0
2.199 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
2.199 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
2.200 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))
2.200 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))
2.200 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.201 * [backup-simplify]: Simplify (+ 0) into 0
2.201 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.201 * [backup-simplify]: Simplify (+ 0 0) into 0
2.202 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.203 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.203 * [backup-simplify]: Simplify (- 0) into 0
2.203 * [backup-simplify]: Simplify (+ 0 0) into 0
2.203 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.203 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
2.203 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0
2.204 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.204 * [backup-simplify]: Simplify (+ 0 0) into 0
2.204 * [backup-simplify]: Simplify (+ 0 0) into 0
2.204 * [backup-simplify]: Simplify (+ 0 0) into 0
2.204 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
2.205 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
2.205 * [backup-simplify]: Simplify (+ 0) into 0
2.205 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.206 * [backup-simplify]: Simplify (+ 0 0) into 0
2.206 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.207 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.207 * [backup-simplify]: Simplify (- 0) into 0
2.207 * [backup-simplify]: Simplify (+ 0 0) into 0
2.207 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.208 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.208 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))
2.209 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
2.209 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
2.209 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
2.209 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
2.210 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
2.210 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1
2.210 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1
2.210 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1
2.210 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
2.210 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.210 * [backup-simplify]: Simplify phi2 into phi2
2.210 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1
2.210 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1
2.210 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
2.210 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.210 * [backup-simplify]: Simplify lambda2 into lambda2
2.210 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
2.210 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
2.210 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
2.211 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.211 * [backup-simplify]: Simplify 0.5 into 0.5
2.211 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
2.211 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.211 * [backup-simplify]: Simplify phi2 into phi2
2.211 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.211 * [backup-simplify]: Simplify phi1 into phi1
2.211 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.211 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.211 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.211 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.211 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.211 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.211 * [backup-simplify]: Simplify (- 0) into 0
2.211 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.211 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1
2.211 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1
2.211 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
2.211 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
2.211 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
2.211 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.212 * [backup-simplify]: Simplify 0.5 into 0.5
2.212 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
2.212 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.212 * [backup-simplify]: Simplify phi2 into phi2
2.212 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.212 * [backup-simplify]: Simplify phi1 into phi1
2.212 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.212 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.212 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.212 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.212 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.212 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.212 * [backup-simplify]: Simplify (- 0) into 0
2.212 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.212 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
2.212 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.212 * [backup-simplify]: Simplify 0 into 0
2.212 * [backup-simplify]: Simplify 1 into 1
2.212 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
2.212 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.213 * [backup-simplify]: Simplify phi1 into phi1
2.213 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1
2.213 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1
2.213 * [taylor]: Taking taylor expansion of 2 in lambda1
2.213 * [backup-simplify]: Simplify 2 into 2
2.213 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
2.213 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.213 * [backup-simplify]: Simplify phi2 into phi2
2.213 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.213 * [backup-simplify]: Simplify phi1 into phi1
2.213 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1
2.213 * [taylor]: Taking taylor expansion of 2 in lambda1
2.213 * [backup-simplify]: Simplify 2 into 2
2.213 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1
2.213 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.213 * [backup-simplify]: Simplify lambda2 into lambda2
2.213 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1
2.213 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
2.213 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
2.213 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
2.213 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.213 * [backup-simplify]: Simplify 0.5 into 0.5
2.213 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
2.213 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.213 * [backup-simplify]: Simplify phi2 into phi2
2.213 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.213 * [backup-simplify]: Simplify phi1 into phi1
2.213 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.213 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.214 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.214 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.214 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.214 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.215 * [backup-simplify]: Simplify (- 0) into 0
2.215 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.215 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.215 * [backup-simplify]: Simplify 0 into 0
2.215 * [backup-simplify]: Simplify 1 into 1
2.215 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.215 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.215 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.216 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2))
2.216 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.216 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
2.216 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))
2.217 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2)))
2.217 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.217 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
2.218 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.218 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0
2.218 * [backup-simplify]: Simplify (* lambda2 0) into 0
2.219 * [backup-simplify]: Simplify (* 2 0) into 0
2.219 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
2.219 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
2.220 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))
2.221 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))
2.221 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.222 * [backup-simplify]: Simplify (+ 0) into 0
2.222 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.223 * [backup-simplify]: Simplify (+ 0 0) into 0
2.223 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.225 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.226 * [backup-simplify]: Simplify (- 0) into 0
2.226 * [backup-simplify]: Simplify (+ 0 0) into 0
2.226 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.226 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
2.227 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0
2.227 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.227 * [backup-simplify]: Simplify (+ 0 0) into 0
2.228 * [backup-simplify]: Simplify (+ 0 0) into 0
2.228 * [backup-simplify]: Simplify (+ 0 0) into 0
2.228 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
2.229 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
2.229 * [backup-simplify]: Simplify (+ 0) into 0
2.230 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.230 * [backup-simplify]: Simplify (+ 0 0) into 0
2.231 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.232 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.232 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.232 * [backup-simplify]: Simplify (- 0) into 0
2.233 * [backup-simplify]: Simplify (+ 0 0) into 0
2.233 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.234 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.235 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))
2.235 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
2.236 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
2.236 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
2.237 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
2.238 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
2.238 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) in lambda2
2.238 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))) in lambda2
2.238 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2
2.238 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.238 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.239 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.239 * [backup-simplify]: Simplify 0 into 0
2.239 * [backup-simplify]: Simplify 1 into 1
2.239 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.239 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.239 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.239 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.239 * [backup-simplify]: Simplify 0.5 into 0.5
2.239 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.239 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.239 * [backup-simplify]: Simplify phi2 into phi2
2.239 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.239 * [backup-simplify]: Simplify phi1 into phi1
2.239 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.239 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.239 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.239 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.239 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.240 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.240 * [backup-simplify]: Simplify (- 0) into 0
2.240 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.241 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2
2.241 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.241 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.241 * [backup-simplify]: Simplify phi1 into phi1
2.241 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.241 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.241 * [backup-simplify]: Simplify phi2 into phi2
2.241 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
2.241 * [taylor]: Taking taylor expansion of 2 in lambda2
2.241 * [backup-simplify]: Simplify 2 into 2
2.241 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.241 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.241 * [backup-simplify]: Simplify phi2 into phi2
2.241 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.241 * [backup-simplify]: Simplify phi1 into phi1
2.241 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.241 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.241 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2))
2.242 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
2.242 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.242 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
2.242 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
2.243 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))
2.243 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))
2.243 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.243 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.244 * [backup-simplify]: Simplify (+ 0 0) into 0
2.244 * [backup-simplify]: Simplify (+ 0 0) into 0
2.244 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
2.245 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
2.245 * [backup-simplify]: Simplify (- 0) into 0
2.246 * [backup-simplify]: Simplify (+ 0 0) into 0
2.246 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into 0
2.246 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1
2.247 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1
2.247 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
2.247 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.247 * [taylor]: Taking taylor expansion of phi2 in phi1
2.247 * [backup-simplify]: Simplify phi2 into phi2
2.247 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.247 * [taylor]: Taking taylor expansion of phi1 in phi1
2.247 * [backup-simplify]: Simplify 0 into 0
2.247 * [backup-simplify]: Simplify 1 into 1
2.247 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1
2.247 * [taylor]: Taking taylor expansion of 2 in phi1
2.247 * [backup-simplify]: Simplify 2 into 2
2.247 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.247 * [taylor]: Taking taylor expansion of phi2 in phi1
2.247 * [backup-simplify]: Simplify phi2 into phi2
2.247 * [taylor]: Taking taylor expansion of phi1 in phi1
2.247 * [backup-simplify]: Simplify 0 into 0
2.247 * [backup-simplify]: Simplify 1 into 1
2.247 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.247 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
2.247 * [backup-simplify]: Simplify (* phi2 0) into 0
2.248 * [backup-simplify]: Simplify (* 2 0) into 0
2.248 * [backup-simplify]: Simplify (- 0) into 0
2.248 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
2.249 * [backup-simplify]: Simplify (sqrt (pow phi2 2)) into phi2
2.249 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.249 * [backup-simplify]: Simplify (+ 0 0) into 0
2.250 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.250 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
2.250 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
2.250 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
2.250 * [backup-simplify]: Simplify (/ (- (* 2 phi2)) (* 2 (sqrt (pow phi2 2)))) into -1
2.250 * [taylor]: Taking taylor expansion of phi2 in phi2
2.251 * [backup-simplify]: Simplify 0 into 0
2.251 * [backup-simplify]: Simplify 1 into 1
2.251 * [backup-simplify]: Simplify 0 into 0
2.251 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) in lambda2
2.251 * [taylor]: Taking taylor expansion of -1 in lambda2
2.251 * [backup-simplify]: Simplify -1 into -1
2.251 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in lambda2
2.251 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) in lambda2
2.251 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))) in lambda2
2.251 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))) in lambda2
2.251 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) in lambda2
2.251 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.251 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.251 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.251 * [backup-simplify]: Simplify 0 into 0
2.251 * [backup-simplify]: Simplify 1 into 1
2.251 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.251 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.251 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.251 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.251 * [backup-simplify]: Simplify 0.5 into 0.5
2.251 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.251 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.251 * [backup-simplify]: Simplify phi2 into phi2
2.251 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.251 * [backup-simplify]: Simplify phi1 into phi1
2.251 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.252 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.252 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.252 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.252 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.252 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.253 * [backup-simplify]: Simplify (- 0) into 0
2.253 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.253 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in lambda2
2.253 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.253 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.253 * [backup-simplify]: Simplify phi1 into phi1
2.253 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.253 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.253 * [backup-simplify]: Simplify phi2 into phi2
2.253 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
2.253 * [taylor]: Taking taylor expansion of 2 in lambda2
2.253 * [backup-simplify]: Simplify 2 into 2
2.253 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.253 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.253 * [backup-simplify]: Simplify phi2 into phi2
2.253 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.253 * [backup-simplify]: Simplify phi1 into phi1
2.253 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.253 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.254 * [backup-simplify]: Simplify (+ (pow phi1 2) (pow phi2 2)) into (+ (pow phi2 2) (pow phi1 2))
2.254 * [backup-simplify]: Simplify (+ 0 (+ (pow phi2 2) (pow phi1 2))) into (+ (pow phi2 2) (pow phi1 2))
2.254 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.254 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
2.254 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
2.255 * [backup-simplify]: Simplify (+ (+ (pow phi2 2) (pow phi1 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))
2.255 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))
2.256 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) into (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))
2.256 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.256 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.256 * [backup-simplify]: Simplify (+ 0 0) into 0
2.257 * [backup-simplify]: Simplify (+ 0 0) into 0
2.257 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
2.258 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
2.258 * [backup-simplify]: Simplify (- 0) into 0
2.258 * [backup-simplify]: Simplify (+ 0 0) into 0
2.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) (/ 0 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0
2.260 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))))) into 0
2.260 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.260 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.260 * [backup-simplify]: Simplify 0 into 0
2.260 * [backup-simplify]: Simplify 1 into 1
2.260 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.260 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.260 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.260 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.260 * [backup-simplify]: Simplify 0.5 into 0.5
2.260 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.260 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.260 * [backup-simplify]: Simplify phi2 into phi2
2.260 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.260 * [backup-simplify]: Simplify phi1 into phi1
2.260 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.261 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.261 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.261 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.261 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.261 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.262 * [backup-simplify]: Simplify (- 0) into 0
2.262 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.262 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.262 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0
2.263 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) 0) into 0
2.263 * [backup-simplify]: Simplify (* -1 0) into 0
2.263 * [taylor]: Taking taylor expansion of 0 in phi1
2.263 * [backup-simplify]: Simplify 0 into 0
2.263 * [taylor]: Taking taylor expansion of 0 in phi2
2.263 * [backup-simplify]: Simplify 0 into 0
2.263 * [backup-simplify]: Simplify 0 into 0
2.263 * [taylor]: Taking taylor expansion of 0 in phi1
2.264 * [backup-simplify]: Simplify 0 into 0
2.264 * [taylor]: Taking taylor expansion of 0 in phi2
2.264 * [backup-simplify]: Simplify 0 into 0
2.264 * [backup-simplify]: Simplify 0 into 0
2.264 * [taylor]: Taking taylor expansion of -1 in phi2
2.264 * [backup-simplify]: Simplify -1 into -1
2.264 * [backup-simplify]: Simplify -1 into -1
2.264 * [backup-simplify]: Simplify 1 into 1
2.265 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
2.266 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.267 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
2.267 * [backup-simplify]: Simplify (+ 0 0) into 0
2.268 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
2.269 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.269 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
2.275 * [backup-simplify]: Simplify (- 0) into 0
2.276 * [backup-simplify]: Simplify (+ 0 0) into 0
2.277 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
2.277 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (* 0 lambda2))) into 0
2.278 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* 0 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into 0
2.279 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.279 * [backup-simplify]: Simplify (* 1 1) into 1
2.279 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.280 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
2.280 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.280 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.281 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.281 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0
2.282 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0
2.283 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.284 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
2.285 * [backup-simplify]: Simplify (+ 0 0) into 0
2.285 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
2.286 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.287 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
2.287 * [backup-simplify]: Simplify (- 0) into 0
2.288 * [backup-simplify]: Simplify (+ 0 0) into 0
2.289 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
2.290 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 1) (* 0 0))) into 0
2.290 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0))) into 0
2.291 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0))) into 0
2.292 * [backup-simplify]: Simplify (+ 0 0) into 0
2.292 * [backup-simplify]: Simplify (- 0) into 0
2.293 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.296 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) 2) (+)) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))))
2.296 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))))) in lambda2
2.297 * [taylor]: Taking taylor expansion of 1/2 in lambda2
2.297 * [backup-simplify]: Simplify 1/2 into 1/2
2.297 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) in lambda2
2.297 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) in lambda2
2.297 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) in lambda2
2.297 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) in lambda2
2.297 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2
2.297 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.297 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.297 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.297 * [backup-simplify]: Simplify 0 into 0
2.297 * [backup-simplify]: Simplify 1 into 1
2.297 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.297 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.297 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.297 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.297 * [backup-simplify]: Simplify 0.5 into 0.5
2.297 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.297 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.297 * [backup-simplify]: Simplify phi2 into phi2
2.297 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.297 * [backup-simplify]: Simplify phi1 into phi1
2.297 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.297 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.298 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.298 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.298 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.298 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.298 * [backup-simplify]: Simplify (- 0) into 0
2.299 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.299 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
2.299 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.299 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.299 * [backup-simplify]: Simplify phi2 into phi2
2.299 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.299 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.299 * [backup-simplify]: Simplify phi1 into phi1
2.299 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
2.299 * [taylor]: Taking taylor expansion of 2 in lambda2
2.299 * [backup-simplify]: Simplify 2 into 2
2.299 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.299 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.299 * [backup-simplify]: Simplify phi2 into phi2
2.299 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.299 * [backup-simplify]: Simplify phi1 into phi1
2.299 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.299 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.299 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2))
2.300 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2))
2.300 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.300 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
2.300 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
2.300 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))
2.301 * [backup-simplify]: Simplify (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))
2.301 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) into (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))
2.301 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.301 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.302 * [backup-simplify]: Simplify (+ 0 0) into 0
2.302 * [backup-simplify]: Simplify (+ 0 0) into 0
2.302 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
2.303 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
2.303 * [backup-simplify]: Simplify (- 0) into 0
2.304 * [backup-simplify]: Simplify (+ 0 0) into 0
2.305 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) (/ 0 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0
2.305 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into 0
2.305 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))))) in lambda2
2.305 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.305 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.305 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.305 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.305 * [backup-simplify]: Simplify 0.5 into 0.5
2.305 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.305 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.305 * [backup-simplify]: Simplify phi2 into phi2
2.305 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.305 * [backup-simplify]: Simplify phi1 into phi1
2.306 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.306 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.306 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.306 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.306 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.306 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.307 * [backup-simplify]: Simplify (- 0) into 0
2.307 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.307 * [taylor]: Taking taylor expansion of (/ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) in lambda2
2.307 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 4)) in lambda2
2.307 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.307 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.307 * [backup-simplify]: Simplify 0 into 0
2.307 * [backup-simplify]: Simplify 1 into 1
2.307 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in lambda2
2.307 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.307 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.307 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.307 * [backup-simplify]: Simplify 0.5 into 0.5
2.307 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.308 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.308 * [backup-simplify]: Simplify phi2 into phi2
2.308 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.308 * [backup-simplify]: Simplify phi1 into phi1
2.308 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.308 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.308 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.308 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.308 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.308 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.309 * [backup-simplify]: Simplify (- 0) into 0
2.309 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.309 * [taylor]: Taking taylor expansion of (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1))) in lambda2
2.309 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) in lambda2
2.309 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.309 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.309 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.309 * [backup-simplify]: Simplify 0 into 0
2.309 * [backup-simplify]: Simplify 1 into 1
2.309 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.309 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.309 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.309 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.309 * [backup-simplify]: Simplify 0.5 into 0.5
2.309 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.309 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.309 * [backup-simplify]: Simplify phi2 into phi2
2.309 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.310 * [backup-simplify]: Simplify phi1 into phi1
2.310 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.310 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.310 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.310 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.310 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.310 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.311 * [backup-simplify]: Simplify (- 0) into 0
2.311 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.311 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in lambda2
2.311 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.311 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.311 * [backup-simplify]: Simplify phi2 into phi2
2.311 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.311 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.311 * [backup-simplify]: Simplify phi1 into phi1
2.311 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
2.311 * [taylor]: Taking taylor expansion of 2 in lambda2
2.311 * [backup-simplify]: Simplify 2 into 2
2.311 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.311 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.311 * [backup-simplify]: Simplify phi2 into phi2
2.311 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.311 * [backup-simplify]: Simplify phi1 into phi1
2.312 * [backup-simplify]: Simplify (* 1 1) into 1
2.312 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.312 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4)
2.313 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 4)) into (pow (cos (* 0.5 (+ phi2 phi1))) 4)
2.313 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.313 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.313 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2))
2.313 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (pow phi2 2))
2.313 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.313 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
2.314 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
2.314 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (pow phi2 2)) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))
2.315 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ phi2 phi1))) 4) (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) into (/ (pow (cos (* 0.5 (+ phi2 phi1))) 4) (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))
2.315 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.315 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.316 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))
2.316 * [backup-simplify]: Simplify (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) into (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))))
2.317 * [taylor]: Taking taylor expansion of (* 1/2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))))) in phi1
2.317 * [taylor]: Taking taylor expansion of 1/2 in phi1
2.317 * [backup-simplify]: Simplify 1/2 into 1/2
2.317 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))))) in phi1
2.317 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.317 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.317 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.317 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.317 * [backup-simplify]: Simplify 0.5 into 0.5
2.317 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.317 * [taylor]: Taking taylor expansion of phi2 in phi1
2.317 * [backup-simplify]: Simplify phi2 into phi2
2.317 * [taylor]: Taking taylor expansion of phi1 in phi1
2.317 * [backup-simplify]: Simplify 0 into 0
2.317 * [backup-simplify]: Simplify 1 into 1
2.317 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.317 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.317 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.317 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.317 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.317 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.318 * [backup-simplify]: Simplify (- 0) into 0
2.318 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.318 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))))) in phi1
2.318 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1)))) in phi1
2.318 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (pow phi2 2)) (* 2 (* phi2 phi1))) in phi1
2.318 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (pow phi2 2)) in phi1
2.318 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.318 * [taylor]: Taking taylor expansion of phi1 in phi1
2.318 * [backup-simplify]: Simplify 0 into 0
2.318 * [backup-simplify]: Simplify 1 into 1
2.318 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.318 * [taylor]: Taking taylor expansion of phi2 in phi1
2.318 * [backup-simplify]: Simplify phi2 into phi2
2.319 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1
2.319 * [taylor]: Taking taylor expansion of 2 in phi1
2.319 * [backup-simplify]: Simplify 2 into 2
2.319 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.319 * [taylor]: Taking taylor expansion of phi2 in phi1
2.319 * [backup-simplify]: Simplify phi2 into phi2
2.319 * [taylor]: Taking taylor expansion of phi1 in phi1
2.319 * [backup-simplify]: Simplify 0 into 0
2.319 * [backup-simplify]: Simplify 1 into 1
2.319 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.319 * [backup-simplify]: Simplify (+ 0 (pow phi2 2)) into (pow phi2 2)
2.319 * [backup-simplify]: Simplify (* phi2 0) into 0
2.320 * [backup-simplify]: Simplify (* 2 0) into 0
2.320 * [backup-simplify]: Simplify (- 0) into 0
2.320 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
2.320 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.321 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2)
2.321 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.321 * [backup-simplify]: Simplify (+ 0 0) into 0
2.321 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.322 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
2.322 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
2.322 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
2.322 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3)))
2.323 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2))
2.323 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.323 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (/ 1 phi2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2)
2.323 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2))
2.323 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2
2.323 * [taylor]: Taking taylor expansion of 1/2 in phi2
2.323 * [backup-simplify]: Simplify 1/2 into 1/2
2.323 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2
2.324 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
2.324 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.324 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.324 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.324 * [backup-simplify]: Simplify 0.5 into 0.5
2.324 * [taylor]: Taking taylor expansion of phi2 in phi2
2.324 * [backup-simplify]: Simplify 0 into 0
2.324 * [backup-simplify]: Simplify 1 into 1
2.324 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.325 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.326 * [taylor]: Taking taylor expansion of phi2 in phi2
2.326 * [backup-simplify]: Simplify 0 into 0
2.326 * [backup-simplify]: Simplify 1 into 1
2.326 * [backup-simplify]: Simplify (* 1 1) into 1
2.326 * [backup-simplify]: Simplify (/ 1 1) into 1
2.327 * [backup-simplify]: Simplify (+ 0) into 0
2.327 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.328 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
2.328 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
2.328 * [backup-simplify]: Simplify 0 into 0
2.329 * [backup-simplify]: Simplify (+ 0) into 0
2.329 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.330 * [backup-simplify]: Simplify (+ 0 0) into 0
2.330 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.331 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.332 * [backup-simplify]: Simplify (- 0) into 0
2.332 * [backup-simplify]: Simplify (+ 0 0) into 0
2.332 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.333 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.334 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))
2.335 * [backup-simplify]: Simplify (+ (* -1 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
2.335 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1
2.335 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1
2.335 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1
2.335 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1
2.335 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1
2.335 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
2.335 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.335 * [taylor]: Taking taylor expansion of phi2 in phi1
2.335 * [backup-simplify]: Simplify phi2 into phi2
2.335 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.336 * [taylor]: Taking taylor expansion of phi1 in phi1
2.336 * [backup-simplify]: Simplify 0 into 0
2.336 * [backup-simplify]: Simplify 1 into 1
2.336 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1
2.336 * [taylor]: Taking taylor expansion of 2 in phi1
2.336 * [backup-simplify]: Simplify 2 into 2
2.336 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.336 * [taylor]: Taking taylor expansion of phi2 in phi1
2.336 * [backup-simplify]: Simplify phi2 into phi2
2.336 * [taylor]: Taking taylor expansion of phi1 in phi1
2.336 * [backup-simplify]: Simplify 0 into 0
2.336 * [backup-simplify]: Simplify 1 into 1
2.336 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.336 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
2.336 * [backup-simplify]: Simplify (* phi2 0) into 0
2.336 * [backup-simplify]: Simplify (* 2 0) into 0
2.337 * [backup-simplify]: Simplify (- 0) into 0
2.337 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
2.337 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.337 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2)
2.337 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.338 * [backup-simplify]: Simplify (+ 0 0) into 0
2.338 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.338 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
2.339 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
2.339 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
2.339 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3)))
2.339 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2))
2.339 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.339 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.339 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.339 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.340 * [backup-simplify]: Simplify 0.5 into 0.5
2.340 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.340 * [taylor]: Taking taylor expansion of phi2 in phi1
2.340 * [backup-simplify]: Simplify phi2 into phi2
2.340 * [taylor]: Taking taylor expansion of phi1 in phi1
2.340 * [backup-simplify]: Simplify 0 into 0
2.340 * [backup-simplify]: Simplify 1 into 1
2.340 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.340 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.340 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.340 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.340 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.340 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.341 * [backup-simplify]: Simplify (- 0) into 0
2.341 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.341 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.341 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2)
2.341 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (- (/ (pow (cos (* 0.5 phi2)) 2) phi2))
2.341 * [taylor]: Taking taylor expansion of (- (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2
2.341 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2
2.341 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
2.341 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.342 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.342 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.342 * [backup-simplify]: Simplify 0.5 into 0.5
2.342 * [taylor]: Taking taylor expansion of phi2 in phi2
2.342 * [backup-simplify]: Simplify 0 into 0
2.342 * [backup-simplify]: Simplify 1 into 1
2.342 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.343 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.343 * [taylor]: Taking taylor expansion of phi2 in phi2
2.343 * [backup-simplify]: Simplify 0 into 0
2.343 * [backup-simplify]: Simplify 1 into 1
2.344 * [backup-simplify]: Simplify (* 1 1) into 1
2.344 * [backup-simplify]: Simplify (/ 1 1) into 1
2.344 * [backup-simplify]: Simplify (+ 0) into 0
2.345 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.346 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
2.346 * [backup-simplify]: Simplify (- 0) into 0
2.346 * [backup-simplify]: Simplify 0 into 0
2.346 * [backup-simplify]: Simplify (* 1 1) into 1
2.347 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.347 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.347 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
2.348 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
2.348 * [backup-simplify]: Simplify (+ 0 0) into 0
2.348 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.349 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0
2.349 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0
2.350 * [backup-simplify]: Simplify (- 0) into 0
2.350 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.351 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow 0 2) (+)) (* 2 (sqrt (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
2.351 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1
2.351 * [taylor]: Taking taylor expansion of 1/2 in phi1
2.351 * [backup-simplify]: Simplify 1/2 into 1/2
2.351 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1
2.352 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))))) in phi1
2.352 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1)))) in phi1
2.352 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (pow phi1 2)) (* 2 (* phi2 phi1))) in phi1
2.352 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (pow phi1 2)) in phi1
2.352 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.352 * [taylor]: Taking taylor expansion of phi2 in phi1
2.352 * [backup-simplify]: Simplify phi2 into phi2
2.352 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.352 * [taylor]: Taking taylor expansion of phi1 in phi1
2.352 * [backup-simplify]: Simplify 0 into 0
2.352 * [backup-simplify]: Simplify 1 into 1
2.352 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1
2.352 * [taylor]: Taking taylor expansion of 2 in phi1
2.352 * [backup-simplify]: Simplify 2 into 2
2.352 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.352 * [taylor]: Taking taylor expansion of phi2 in phi1
2.352 * [backup-simplify]: Simplify phi2 into phi2
2.352 * [taylor]: Taking taylor expansion of phi1 in phi1
2.352 * [backup-simplify]: Simplify 0 into 0
2.352 * [backup-simplify]: Simplify 1 into 1
2.352 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.352 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
2.352 * [backup-simplify]: Simplify (* phi2 0) into 0
2.353 * [backup-simplify]: Simplify (* 2 0) into 0
2.353 * [backup-simplify]: Simplify (- 0) into 0
2.353 * [backup-simplify]: Simplify (+ (pow phi2 2) 0) into (pow phi2 2)
2.353 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.354 * [backup-simplify]: Simplify (sqrt (/ 1 (pow phi2 2))) into (/ 1 phi2)
2.354 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.354 * [backup-simplify]: Simplify (+ 0 0) into 0
2.354 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.355 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
2.355 * [backup-simplify]: Simplify (- (* 2 phi2)) into (- (* 2 phi2))
2.355 * [backup-simplify]: Simplify (+ 0 (- (* 2 phi2))) into (- (* 2 phi2))
2.355 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ (- (* 2 phi2)) (pow phi2 2))))) into (* 2 (/ 1 (pow phi2 3)))
2.356 * [backup-simplify]: Simplify (/ (* 2 (/ 1 (pow phi2 3))) (* 2 (sqrt (/ 1 (pow phi2 2))))) into (/ 1 (pow phi2 2))
2.356 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.356 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.356 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.356 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.356 * [backup-simplify]: Simplify 0.5 into 0.5
2.356 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.356 * [taylor]: Taking taylor expansion of phi2 in phi1
2.356 * [backup-simplify]: Simplify phi2 into phi2
2.356 * [taylor]: Taking taylor expansion of phi1 in phi1
2.356 * [backup-simplify]: Simplify 0 into 0
2.356 * [backup-simplify]: Simplify 1 into 1
2.356 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.356 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.356 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.356 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.356 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.356 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.357 * [backup-simplify]: Simplify (- 0) into 0
2.357 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.357 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.357 * [backup-simplify]: Simplify (* (/ 1 phi2) (pow (cos (* 0.5 phi2)) 2)) into (/ (pow (cos (* 0.5 phi2)) 2) phi2)
2.358 * [backup-simplify]: Simplify (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) into (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2))
2.358 * [taylor]: Taking taylor expansion of (* 1/2 (/ (pow (cos (* 0.5 phi2)) 2) phi2)) in phi2
2.358 * [taylor]: Taking taylor expansion of 1/2 in phi2
2.358 * [backup-simplify]: Simplify 1/2 into 1/2
2.358 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 phi2)) 2) phi2) in phi2
2.358 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
2.358 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.358 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.358 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.358 * [backup-simplify]: Simplify 0.5 into 0.5
2.358 * [taylor]: Taking taylor expansion of phi2 in phi2
2.358 * [backup-simplify]: Simplify 0 into 0
2.358 * [backup-simplify]: Simplify 1 into 1
2.358 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.360 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.360 * [taylor]: Taking taylor expansion of phi2 in phi2
2.360 * [backup-simplify]: Simplify 0 into 0
2.360 * [backup-simplify]: Simplify 1 into 1
2.360 * [backup-simplify]: Simplify (* 1 1) into 1
2.360 * [backup-simplify]: Simplify (/ 1 1) into 1
2.361 * [backup-simplify]: Simplify (+ 0) into 0
2.361 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.362 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
2.363 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
2.363 * [backup-simplify]: Simplify 0 into 0
2.363 * [taylor]: Taking taylor expansion of 0 in phi2
2.363 * [backup-simplify]: Simplify 0 into 0
2.363 * [backup-simplify]: Simplify 0 into 0
2.363 * [taylor]: Taking taylor expansion of 0 in phi2
2.363 * [backup-simplify]: Simplify 0 into 0
2.363 * [backup-simplify]: Simplify 0 into 0
2.363 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
2.364 * [backup-simplify]: Simplify (* 1 1) into 1
2.364 * [backup-simplify]: Simplify (+ 0 1) into 1
2.365 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 1) (* 0 0))) into 0
2.365 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi2) (* 0 0))) into 0
2.365 * [backup-simplify]: Simplify (- 0) into 0
2.366 * [backup-simplify]: Simplify (+ 1 0) into 1
2.366 * [backup-simplify]: Simplify (/ (- 1 (pow -1 2) (+)) (* 2 phi2)) into 0
2.366 * [taylor]: Taking taylor expansion of 0 in phi2
2.366 * [backup-simplify]: Simplify 0 into 0
2.366 * [backup-simplify]: Simplify 0 into 0
2.367 * [backup-simplify]: Simplify (+ (* 1 (* phi2 (* 1 (* 1 1)))) (* -1 (* 1 (* phi1 (* 1 1))))) into (- phi2 phi1)
2.368 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))))
2.368 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0
2.368 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2
2.368 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2
2.368 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2
2.368 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
2.368 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.368 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.368 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.368 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.368 * [backup-simplify]: Simplify 0.5 into 0.5
2.368 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.368 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.368 * [taylor]: Taking taylor expansion of phi1 in phi2
2.368 * [backup-simplify]: Simplify phi1 into phi1
2.368 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.368 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.368 * [taylor]: Taking taylor expansion of phi2 in phi2
2.368 * [backup-simplify]: Simplify 0 into 0
2.368 * [backup-simplify]: Simplify 1 into 1
2.368 * [backup-simplify]: Simplify (/ 1 1) into 1
2.369 * [backup-simplify]: Simplify (+ 0 1) into 1
2.369 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.369 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.369 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
2.369 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.369 * [backup-simplify]: Simplify lambda1 into lambda1
2.369 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.369 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.370 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
2.370 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2
2.370 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
2.370 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
2.370 * [taylor]: Taking taylor expansion of phi2 in phi2
2.370 * [backup-simplify]: Simplify 0 into 0
2.370 * [backup-simplify]: Simplify 1 into 1
2.370 * [backup-simplify]: Simplify (* 1 1) into 1
2.370 * [backup-simplify]: Simplify (/ 1 1) into 1
2.370 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2
2.370 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2
2.370 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.370 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.370 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.370 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.370 * [backup-simplify]: Simplify 0.5 into 0.5
2.370 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.370 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.370 * [taylor]: Taking taylor expansion of phi1 in phi2
2.370 * [backup-simplify]: Simplify phi1 into phi1
2.371 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.371 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.371 * [taylor]: Taking taylor expansion of phi2 in phi2
2.371 * [backup-simplify]: Simplify 0 into 0
2.371 * [backup-simplify]: Simplify 1 into 1
2.371 * [backup-simplify]: Simplify (/ 1 1) into 1
2.371 * [backup-simplify]: Simplify (+ 0 1) into 1
2.371 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.371 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.371 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
2.372 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.372 * [backup-simplify]: Simplify lambda2 into lambda2
2.372 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.372 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.372 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.372 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
2.372 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
2.372 * [taylor]: Taking taylor expansion of phi1 in phi2
2.372 * [backup-simplify]: Simplify phi1 into phi1
2.372 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.372 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.372 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2
2.372 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
2.372 * [taylor]: Taking taylor expansion of 2 in phi2
2.372 * [backup-simplify]: Simplify 2 into 2
2.372 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
2.372 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.372 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.372 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.372 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.372 * [backup-simplify]: Simplify 0.5 into 0.5
2.372 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.373 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.373 * [taylor]: Taking taylor expansion of phi1 in phi2
2.373 * [backup-simplify]: Simplify phi1 into phi1
2.373 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.373 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.373 * [taylor]: Taking taylor expansion of phi2 in phi2
2.373 * [backup-simplify]: Simplify 0 into 0
2.373 * [backup-simplify]: Simplify 1 into 1
2.373 * [backup-simplify]: Simplify (/ 1 1) into 1
2.373 * [backup-simplify]: Simplify (+ 0 1) into 1
2.373 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.374 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.374 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
2.374 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.374 * [backup-simplify]: Simplify lambda2 into lambda2
2.374 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.374 * [backup-simplify]: Simplify lambda1 into lambda1
2.374 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.374 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
2.374 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
2.374 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
2.374 * [taylor]: Taking taylor expansion of 2 in phi2
2.374 * [backup-simplify]: Simplify 2 into 2
2.374 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
2.374 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
2.374 * [taylor]: Taking taylor expansion of phi2 in phi2
2.374 * [backup-simplify]: Simplify 0 into 0
2.374 * [backup-simplify]: Simplify 1 into 1
2.374 * [taylor]: Taking taylor expansion of phi1 in phi2
2.374 * [backup-simplify]: Simplify phi1 into phi1
2.374 * [backup-simplify]: Simplify (* 0 phi1) into 0
2.375 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
2.375 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.375 * [backup-simplify]: Simplify (+ 1 0) into 1
2.375 * [backup-simplify]: Simplify (+ 0 1) into 1
2.375 * [backup-simplify]: Simplify (+ 1 0) into 1
2.376 * [backup-simplify]: Simplify (sqrt 1) into 1
2.376 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.377 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.377 * [backup-simplify]: Simplify (+ 0 0) into 0
2.377 * [backup-simplify]: Simplify (+ 0 0) into 0
2.377 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
2.377 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1))
2.377 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
2.377 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
2.378 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
2.378 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1
2.378 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1
2.378 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1
2.378 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
2.378 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.378 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.378 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.378 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.378 * [backup-simplify]: Simplify 0.5 into 0.5
2.378 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.378 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.378 * [taylor]: Taking taylor expansion of phi1 in phi1
2.378 * [backup-simplify]: Simplify 0 into 0
2.378 * [backup-simplify]: Simplify 1 into 1
2.378 * [backup-simplify]: Simplify (/ 1 1) into 1
2.378 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.378 * [taylor]: Taking taylor expansion of phi2 in phi1
2.378 * [backup-simplify]: Simplify phi2 into phi2
2.378 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.379 * [backup-simplify]: Simplify (+ 1 0) into 1
2.379 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.379 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.379 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
2.379 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.379 * [backup-simplify]: Simplify lambda1 into lambda1
2.379 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.379 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.380 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
2.380 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1
2.380 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
2.380 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.380 * [taylor]: Taking taylor expansion of phi2 in phi1
2.380 * [backup-simplify]: Simplify phi2 into phi2
2.380 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.380 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.380 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1
2.380 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1
2.380 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.380 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.380 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.380 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.380 * [backup-simplify]: Simplify 0.5 into 0.5
2.380 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.380 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.380 * [taylor]: Taking taylor expansion of phi1 in phi1
2.380 * [backup-simplify]: Simplify 0 into 0
2.380 * [backup-simplify]: Simplify 1 into 1
2.380 * [backup-simplify]: Simplify (/ 1 1) into 1
2.380 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.380 * [taylor]: Taking taylor expansion of phi2 in phi1
2.380 * [backup-simplify]: Simplify phi2 into phi2
2.381 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.381 * [backup-simplify]: Simplify (+ 1 0) into 1
2.381 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.381 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.381 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
2.381 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.381 * [backup-simplify]: Simplify lambda2 into lambda2
2.381 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.382 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.382 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.382 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
2.382 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.382 * [taylor]: Taking taylor expansion of phi1 in phi1
2.382 * [backup-simplify]: Simplify 0 into 0
2.382 * [backup-simplify]: Simplify 1 into 1
2.382 * [backup-simplify]: Simplify (* 1 1) into 1
2.383 * [backup-simplify]: Simplify (/ 1 1) into 1
2.383 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1
2.383 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
2.383 * [taylor]: Taking taylor expansion of 2 in phi1
2.383 * [backup-simplify]: Simplify 2 into 2
2.383 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
2.383 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.383 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.383 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.383 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.383 * [backup-simplify]: Simplify 0.5 into 0.5
2.383 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.383 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.383 * [taylor]: Taking taylor expansion of phi1 in phi1
2.383 * [backup-simplify]: Simplify 0 into 0
2.383 * [backup-simplify]: Simplify 1 into 1
2.383 * [backup-simplify]: Simplify (/ 1 1) into 1
2.383 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.383 * [taylor]: Taking taylor expansion of phi2 in phi1
2.383 * [backup-simplify]: Simplify phi2 into phi2
2.383 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.383 * [backup-simplify]: Simplify (+ 1 0) into 1
2.384 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.384 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.384 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
2.384 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.384 * [backup-simplify]: Simplify lambda2 into lambda2
2.384 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.384 * [backup-simplify]: Simplify lambda1 into lambda1
2.384 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.384 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
2.385 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
2.385 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
2.385 * [taylor]: Taking taylor expansion of 2 in phi1
2.385 * [backup-simplify]: Simplify 2 into 2
2.385 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
2.385 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.385 * [taylor]: Taking taylor expansion of phi2 in phi1
2.385 * [backup-simplify]: Simplify phi2 into phi2
2.385 * [taylor]: Taking taylor expansion of phi1 in phi1
2.385 * [backup-simplify]: Simplify 0 into 0
2.385 * [backup-simplify]: Simplify 1 into 1
2.385 * [backup-simplify]: Simplify (* phi2 0) into 0
2.385 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.385 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.386 * [backup-simplify]: Simplify (+ 0 1) into 1
2.386 * [backup-simplify]: Simplify (+ 0 1) into 1
2.386 * [backup-simplify]: Simplify (+ 0 1) into 1
2.386 * [backup-simplify]: Simplify (+ 1 0) into 1
2.387 * [backup-simplify]: Simplify (sqrt 1) into 1
2.387 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.387 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.388 * [backup-simplify]: Simplify (+ 0 0) into 0
2.388 * [backup-simplify]: Simplify (+ 0 0) into 0
2.388 * [backup-simplify]: Simplify (+ 0 0) into 0
2.388 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
2.388 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2))
2.388 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2)))
2.388 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
2.389 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
2.389 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2
2.389 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2
2.389 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2
2.389 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
2.389 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.389 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.389 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.389 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.389 * [backup-simplify]: Simplify 0.5 into 0.5
2.389 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.389 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.389 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.389 * [backup-simplify]: Simplify phi1 into phi1
2.389 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.389 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.389 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.389 * [backup-simplify]: Simplify phi2 into phi2
2.390 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.390 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.390 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.390 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.390 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.390 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.390 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.391 * [backup-simplify]: Simplify (- 0) into 0
2.391 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.391 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
2.391 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.391 * [backup-simplify]: Simplify lambda1 into lambda1
2.392 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.392 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.392 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
2.392 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2
2.392 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
2.392 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.392 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.392 * [backup-simplify]: Simplify phi2 into phi2
2.392 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.392 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.392 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2
2.392 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2
2.393 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.393 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.393 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.393 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.393 * [backup-simplify]: Simplify 0.5 into 0.5
2.393 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.393 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.393 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.393 * [backup-simplify]: Simplify phi1 into phi1
2.393 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.393 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.393 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.393 * [backup-simplify]: Simplify phi2 into phi2
2.393 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.393 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.393 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.393 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.393 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.394 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.394 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.394 * [backup-simplify]: Simplify (- 0) into 0
2.395 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.395 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.395 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.395 * [backup-simplify]: Simplify 0 into 0
2.395 * [backup-simplify]: Simplify 1 into 1
2.395 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.396 * [backup-simplify]: Simplify (* 1 1) into 1
2.396 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.396 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
2.396 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.396 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.396 * [backup-simplify]: Simplify phi1 into phi1
2.396 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.396 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.397 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2
2.397 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
2.397 * [taylor]: Taking taylor expansion of 2 in lambda2
2.397 * [backup-simplify]: Simplify 2 into 2
2.397 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
2.397 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.397 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.397 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.397 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.397 * [backup-simplify]: Simplify 0.5 into 0.5
2.397 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.397 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.397 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.397 * [backup-simplify]: Simplify phi1 into phi1
2.397 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.397 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.397 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.397 * [backup-simplify]: Simplify phi2 into phi2
2.397 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.397 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.398 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.398 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.398 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.398 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.399 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.399 * [backup-simplify]: Simplify (- 0) into 0
2.400 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.400 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
2.400 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.400 * [backup-simplify]: Simplify 0 into 0
2.400 * [backup-simplify]: Simplify 1 into 1
2.400 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.400 * [backup-simplify]: Simplify lambda1 into lambda1
2.400 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.400 * [backup-simplify]: Simplify (* 0 lambda1) into 0
2.401 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
2.402 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
2.402 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
2.402 * [taylor]: Taking taylor expansion of 2 in lambda2
2.402 * [backup-simplify]: Simplify 2 into 2
2.402 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
2.402 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.402 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.402 * [backup-simplify]: Simplify phi2 into phi2
2.402 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.402 * [backup-simplify]: Simplify phi1 into phi1
2.402 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.402 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.402 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.403 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.403 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.403 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.404 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.404 * [backup-simplify]: Simplify (+ 0) into 0
2.405 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.405 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.405 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.406 * [backup-simplify]: Simplify (+ 0 0) into 0
2.406 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.407 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.408 * [backup-simplify]: Simplify (- 0) into 0
2.408 * [backup-simplify]: Simplify (+ 0 0) into 0
2.408 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.409 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.410 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
2.410 * [backup-simplify]: Simplify (+ 0 0) into 0
2.410 * [backup-simplify]: Simplify (+ 0 0) into 0
2.410 * [backup-simplify]: Simplify (+ 0 0) into 0
2.411 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
2.411 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
2.411 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
2.412 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
2.412 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
2.412 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1
2.412 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1
2.412 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1
2.412 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
2.412 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.412 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.412 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.412 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.412 * [backup-simplify]: Simplify 0.5 into 0.5
2.412 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.412 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.412 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.412 * [backup-simplify]: Simplify phi1 into phi1
2.412 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.412 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.412 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.412 * [backup-simplify]: Simplify phi2 into phi2
2.413 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.413 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.413 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.413 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.413 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.413 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.413 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.413 * [backup-simplify]: Simplify (- 0) into 0
2.414 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.414 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
2.414 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.414 * [backup-simplify]: Simplify 0 into 0
2.414 * [backup-simplify]: Simplify 1 into 1
2.414 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.414 * [backup-simplify]: Simplify (* 1 1) into 1
2.414 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.414 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1
2.414 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
2.414 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
2.415 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.415 * [backup-simplify]: Simplify phi2 into phi2
2.415 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.415 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.415 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1
2.415 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1
2.415 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.415 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.415 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.415 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.415 * [backup-simplify]: Simplify 0.5 into 0.5
2.415 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.415 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.415 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.415 * [backup-simplify]: Simplify phi1 into phi1
2.415 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.415 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.415 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.415 * [backup-simplify]: Simplify phi2 into phi2
2.415 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.415 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.415 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.415 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.415 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.416 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.416 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.416 * [backup-simplify]: Simplify (- 0) into 0
2.416 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.416 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
2.416 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.416 * [backup-simplify]: Simplify lambda2 into lambda2
2.416 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.416 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.417 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.417 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
2.417 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
2.417 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.417 * [backup-simplify]: Simplify phi1 into phi1
2.417 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.417 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.417 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1
2.417 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
2.417 * [taylor]: Taking taylor expansion of 2 in lambda1
2.417 * [backup-simplify]: Simplify 2 into 2
2.417 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
2.417 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.417 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.417 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.417 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.417 * [backup-simplify]: Simplify 0.5 into 0.5
2.417 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.417 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.417 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.417 * [backup-simplify]: Simplify phi1 into phi1
2.417 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.417 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.417 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.417 * [backup-simplify]: Simplify phi2 into phi2
2.417 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.417 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.417 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.417 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.418 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.418 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.418 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.418 * [backup-simplify]: Simplify (- 0) into 0
2.418 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.418 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
2.418 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.418 * [backup-simplify]: Simplify lambda2 into lambda2
2.418 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.418 * [backup-simplify]: Simplify 0 into 0
2.418 * [backup-simplify]: Simplify 1 into 1
2.419 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.419 * [backup-simplify]: Simplify (* lambda2 0) into 0
2.419 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
2.419 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
2.419 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
2.419 * [taylor]: Taking taylor expansion of 2 in lambda1
2.419 * [backup-simplify]: Simplify 2 into 2
2.419 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
2.419 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
2.419 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.419 * [backup-simplify]: Simplify phi2 into phi2
2.419 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.419 * [backup-simplify]: Simplify phi1 into phi1
2.419 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.419 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.420 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.420 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.420 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.420 * [backup-simplify]: Simplify (+ 0) into 0
2.421 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.421 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.421 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.425 * [backup-simplify]: Simplify (+ 0 0) into 0
2.426 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.427 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.427 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.427 * [backup-simplify]: Simplify (- 0) into 0
2.427 * [backup-simplify]: Simplify (+ 0 0) into 0
2.428 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.428 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.429 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
2.429 * [backup-simplify]: Simplify (+ 0 0) into 0
2.430 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
2.430 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
2.430 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.430 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.431 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
2.431 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1
2.431 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1
2.431 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1
2.431 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
2.431 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.431 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.431 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.431 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.431 * [backup-simplify]: Simplify 0.5 into 0.5
2.431 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.431 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.431 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.431 * [backup-simplify]: Simplify phi1 into phi1
2.431 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.431 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.431 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.431 * [backup-simplify]: Simplify phi2 into phi2
2.431 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.431 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.432 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.432 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.432 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.432 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.432 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.432 * [backup-simplify]: Simplify (- 0) into 0
2.432 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.432 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
2.433 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.433 * [backup-simplify]: Simplify 0 into 0
2.433 * [backup-simplify]: Simplify 1 into 1
2.433 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.433 * [backup-simplify]: Simplify (* 1 1) into 1
2.433 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.433 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1
2.433 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
2.433 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
2.433 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.433 * [backup-simplify]: Simplify phi2 into phi2
2.433 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.433 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.434 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1
2.434 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1
2.434 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.434 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.434 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.434 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.434 * [backup-simplify]: Simplify 0.5 into 0.5
2.434 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.434 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.434 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.434 * [backup-simplify]: Simplify phi1 into phi1
2.434 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.434 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.434 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.434 * [backup-simplify]: Simplify phi2 into phi2
2.434 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.434 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.434 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.434 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.434 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.434 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.434 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.435 * [backup-simplify]: Simplify (- 0) into 0
2.435 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.435 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
2.435 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.435 * [backup-simplify]: Simplify lambda2 into lambda2
2.435 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.435 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.436 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.436 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
2.436 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
2.436 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.436 * [backup-simplify]: Simplify phi1 into phi1
2.436 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.436 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.436 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1
2.436 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
2.436 * [taylor]: Taking taylor expansion of 2 in lambda1
2.436 * [backup-simplify]: Simplify 2 into 2
2.436 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
2.436 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.436 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.436 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.436 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.436 * [backup-simplify]: Simplify 0.5 into 0.5
2.436 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.436 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.436 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.436 * [backup-simplify]: Simplify phi1 into phi1
2.436 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.436 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.436 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.436 * [backup-simplify]: Simplify phi2 into phi2
2.436 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.436 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.436 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.437 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.437 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.437 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.437 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.437 * [backup-simplify]: Simplify (- 0) into 0
2.437 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.437 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
2.437 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.437 * [backup-simplify]: Simplify lambda2 into lambda2
2.437 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.437 * [backup-simplify]: Simplify 0 into 0
2.437 * [backup-simplify]: Simplify 1 into 1
2.438 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.438 * [backup-simplify]: Simplify (* lambda2 0) into 0
2.438 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
2.438 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
2.438 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
2.438 * [taylor]: Taking taylor expansion of 2 in lambda1
2.438 * [backup-simplify]: Simplify 2 into 2
2.438 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
2.438 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
2.438 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.438 * [backup-simplify]: Simplify phi2 into phi2
2.438 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.438 * [backup-simplify]: Simplify phi1 into phi1
2.438 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.438 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.439 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.439 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.439 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.439 * [backup-simplify]: Simplify (+ 0) into 0
2.440 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.440 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.440 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.440 * [backup-simplify]: Simplify (+ 0 0) into 0
2.441 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.442 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.442 * [backup-simplify]: Simplify (- 0) into 0
2.443 * [backup-simplify]: Simplify (+ 0 0) into 0
2.443 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.444 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.445 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
2.446 * [backup-simplify]: Simplify (+ 0 0) into 0
2.446 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
2.446 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
2.447 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.448 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.448 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
2.449 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.449 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.449 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.449 * [backup-simplify]: Simplify 0.5 into 0.5
2.449 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.449 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.449 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.449 * [backup-simplify]: Simplify phi1 into phi1
2.449 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.449 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.449 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.449 * [backup-simplify]: Simplify phi2 into phi2
2.449 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.449 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.449 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.450 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.450 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.450 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2
2.450 * [taylor]: Taking taylor expansion of -1 in lambda2
2.450 * [backup-simplify]: Simplify -1 into -1
2.450 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
2.450 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.450 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.450 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.450 * [backup-simplify]: Simplify 0.5 into 0.5
2.450 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.450 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.450 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.450 * [backup-simplify]: Simplify phi1 into phi1
2.450 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.451 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.451 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.451 * [backup-simplify]: Simplify phi2 into phi2
2.451 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.451 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.451 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.451 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.452 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.452 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.452 * [backup-simplify]: Simplify 0 into 0
2.452 * [backup-simplify]: Simplify 1 into 1
2.452 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.452 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.453 * [backup-simplify]: Simplify (- 0) into 0
2.453 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.454 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.454 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.454 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
2.454 * [taylor]: Taking taylor expansion of -1 in phi1
2.454 * [backup-simplify]: Simplify -1 into -1
2.454 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.454 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.454 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.454 * [backup-simplify]: Simplify 0.5 into 0.5
2.454 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.454 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.454 * [taylor]: Taking taylor expansion of phi1 in phi1
2.454 * [backup-simplify]: Simplify 0 into 0
2.454 * [backup-simplify]: Simplify 1 into 1
2.455 * [backup-simplify]: Simplify (/ 1 1) into 1
2.455 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.455 * [taylor]: Taking taylor expansion of phi2 in phi1
2.455 * [backup-simplify]: Simplify phi2 into phi2
2.455 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.456 * [backup-simplify]: Simplify (+ 1 0) into 1
2.456 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.457 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.457 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.457 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.458 * [backup-simplify]: Simplify (- 0) into 0
2.458 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.458 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.458 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.458 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.458 * [backup-simplify]: Simplify 0.5 into 0.5
2.458 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.458 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.458 * [taylor]: Taking taylor expansion of phi1 in phi1
2.458 * [backup-simplify]: Simplify 0 into 0
2.458 * [backup-simplify]: Simplify 1 into 1
2.459 * [backup-simplify]: Simplify (/ 1 1) into 1
2.459 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.459 * [taylor]: Taking taylor expansion of phi2 in phi1
2.459 * [backup-simplify]: Simplify phi2 into phi2
2.459 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.460 * [backup-simplify]: Simplify (+ 1 0) into 1
2.460 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.461 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.462 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.463 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.464 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.464 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.464 * [backup-simplify]: Simplify (+ 0 0) into 0
2.466 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.467 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.468 * [backup-simplify]: Simplify (- 0) into 0
2.468 * [backup-simplify]: Simplify (+ 0 0) into 0
2.469 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
2.471 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
2.473 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0
2.473 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))
2.474 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))
2.476 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))
2.476 * [backup-simplify]: Simplify (+ 0) into 0
2.477 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.477 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.477 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.478 * [backup-simplify]: Simplify (+ 0 0) into 0
2.478 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.479 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.480 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.480 * [backup-simplify]: Simplify (- 0) into 0
2.480 * [backup-simplify]: Simplify (+ 0 0) into 0
2.481 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.481 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0
2.482 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0
2.483 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0
2.483 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
2.483 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1)))
2.483 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1))))
2.485 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1))))
2.487 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.487 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
2.488 * [taylor]: Taking taylor expansion of 1/2 in lambda2
2.488 * [backup-simplify]: Simplify 1/2 into 1/2
2.488 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
2.488 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2
2.488 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2
2.488 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
2.488 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.488 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.488 * [backup-simplify]: Simplify phi2 into phi2
2.488 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.488 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.488 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
2.488 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.488 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.488 * [backup-simplify]: Simplify phi1 into phi1
2.488 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.488 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.488 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
2.488 * [taylor]: Taking taylor expansion of 2 in lambda2
2.489 * [backup-simplify]: Simplify 2 into 2
2.489 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
2.489 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.489 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.489 * [backup-simplify]: Simplify phi2 into phi2
2.489 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.489 * [backup-simplify]: Simplify phi1 into phi1
2.489 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.489 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.489 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.489 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.489 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.489 * [backup-simplify]: Simplify 0.5 into 0.5
2.489 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.489 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.489 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.489 * [backup-simplify]: Simplify phi1 into phi1
2.489 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.489 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.489 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.489 * [backup-simplify]: Simplify phi2 into phi2
2.489 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.489 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.490 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.490 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.490 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.490 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
2.490 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
2.491 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1))))
2.491 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1))))
2.491 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.492 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.492 * [backup-simplify]: Simplify (- 0) into 0
2.492 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.493 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.494 * [backup-simplify]: Simplify (+ 0) into 0
2.494 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.494 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.495 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.495 * [backup-simplify]: Simplify (+ 0 0) into 0
2.496 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.497 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.497 * [backup-simplify]: Simplify (- 0) into 0
2.498 * [backup-simplify]: Simplify (+ 0 0) into 0
2.499 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
2.500 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.500 * [taylor]: Taking taylor expansion of 0 in phi1
2.500 * [backup-simplify]: Simplify 0 into 0
2.500 * [backup-simplify]: Simplify (+ 0) into 0
2.501 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.501 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.501 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.502 * [backup-simplify]: Simplify (+ 0 0) into 0
2.502 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.504 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.504 * [backup-simplify]: Simplify (- 0) into 0
2.505 * [backup-simplify]: Simplify (+ 0 0) into 0
2.505 * [taylor]: Taking taylor expansion of 0 in phi1
2.505 * [backup-simplify]: Simplify 0 into 0
2.505 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.505 * [taylor]: Taking taylor expansion of (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
2.505 * [taylor]: Taking taylor expansion of -1 in phi2
2.505 * [backup-simplify]: Simplify -1 into -1
2.505 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.505 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.505 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.505 * [backup-simplify]: Simplify 0.5 into 0.5
2.505 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.505 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.505 * [taylor]: Taking taylor expansion of phi1 in phi2
2.505 * [backup-simplify]: Simplify phi1 into phi1
2.505 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.505 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.505 * [taylor]: Taking taylor expansion of phi2 in phi2
2.505 * [backup-simplify]: Simplify 0 into 0
2.506 * [backup-simplify]: Simplify 1 into 1
2.506 * [backup-simplify]: Simplify (/ 1 1) into 1
2.506 * [backup-simplify]: Simplify (+ 0 1) into 1
2.507 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.507 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.507 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.507 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.507 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.507 * [backup-simplify]: Simplify 0.5 into 0.5
2.507 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.507 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.507 * [taylor]: Taking taylor expansion of phi1 in phi2
2.507 * [backup-simplify]: Simplify phi1 into phi1
2.507 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.507 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.507 * [taylor]: Taking taylor expansion of phi2 in phi2
2.508 * [backup-simplify]: Simplify 0 into 0
2.508 * [backup-simplify]: Simplify 1 into 1
2.508 * [backup-simplify]: Simplify (/ 1 1) into 1
2.508 * [backup-simplify]: Simplify (+ 0 1) into 1
2.509 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.509 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.510 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
2.511 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
2.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.512 * [backup-simplify]: Simplify (+ 0 0) into 0
2.513 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.514 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
2.514 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
2.515 * [backup-simplify]: Simplify (- 0) into 0
2.515 * [backup-simplify]: Simplify (+ 0 0) into 0
2.516 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
2.516 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
2.518 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
2.518 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.518 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0
2.518 * [backup-simplify]: Simplify (+ 0) into 0
2.519 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.519 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.519 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.519 * [backup-simplify]: Simplify (+ 0 0) into 0
2.519 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.520 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.520 * [backup-simplify]: Simplify (- 0) into 0
2.521 * [backup-simplify]: Simplify (+ 0 0) into 0
2.521 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.521 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
2.521 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0
2.521 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.522 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0
2.522 * [backup-simplify]: Simplify (+ 0 0) into 0
2.522 * [backup-simplify]: Simplify (+ 0 0) into 0
2.522 * [backup-simplify]: Simplify (+ 0 0) into 0
2.523 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.523 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.523 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.524 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.524 * [backup-simplify]: Simplify (+ 0 0) into 0
2.524 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.525 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.525 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.525 * [backup-simplify]: Simplify (- 0) into 0
2.526 * [backup-simplify]: Simplify (+ 0 0) into 0
2.526 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
2.527 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
2.527 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
2.528 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0
2.528 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
2.528 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0
2.528 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0
2.528 * [backup-simplify]: Simplify (+ 0 0) into 0
2.529 * [backup-simplify]: Simplify (- 0) into 0
2.529 * [backup-simplify]: Simplify (+ 0 0) into 0
2.530 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.530 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
2.530 * [taylor]: Taking taylor expansion of 1/2 in lambda2
2.530 * [backup-simplify]: Simplify 1/2 into 1/2
2.530 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
2.530 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2
2.530 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2
2.530 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2
2.530 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
2.530 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.530 * [backup-simplify]: Simplify 0 into 0
2.530 * [backup-simplify]: Simplify 1 into 1
2.530 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.530 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.530 * [backup-simplify]: Simplify phi1 into phi1
2.530 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.530 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
2.530 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.531 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
2.531 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.531 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2
2.531 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2
2.531 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.531 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.531 * [backup-simplify]: Simplify phi2 into phi2
2.531 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.531 * [backup-simplify]: Simplify 0 into 0
2.531 * [backup-simplify]: Simplify 1 into 1
2.531 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.531 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0
2.531 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.531 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2)
2.531 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.532 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2
2.532 * [taylor]: Taking taylor expansion of 2 in lambda2
2.532 * [backup-simplify]: Simplify 2 into 2
2.532 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2
2.532 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2
2.532 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.532 * [backup-simplify]: Simplify phi2 into phi2
2.532 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2
2.532 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.532 * [backup-simplify]: Simplify 0 into 0
2.532 * [backup-simplify]: Simplify 1 into 1
2.532 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.532 * [backup-simplify]: Simplify phi1 into phi1
2.532 * [backup-simplify]: Simplify (* 0 phi1) into 0
2.532 * [backup-simplify]: Simplify (* phi2 0) into 0
2.532 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
2.532 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1)
2.532 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.532 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.532 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.532 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.532 * [backup-simplify]: Simplify 0.5 into 0.5
2.532 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.533 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.533 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.533 * [backup-simplify]: Simplify phi1 into phi1
2.533 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.533 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.533 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.533 * [backup-simplify]: Simplify phi2 into phi2
2.533 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.533 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.533 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.533 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.533 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.533 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
2.533 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
2.533 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1))))
2.534 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1))))
2.534 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.534 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.534 * [backup-simplify]: Simplify (- 0) into 0
2.534 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.535 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.535 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.535 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
2.535 * [taylor]: Taking taylor expansion of 1/2 in phi1
2.535 * [backup-simplify]: Simplify 1/2 into 1/2
2.535 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
2.535 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1
2.535 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1
2.535 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
2.535 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.536 * [taylor]: Taking taylor expansion of phi2 in phi1
2.536 * [backup-simplify]: Simplify phi2 into phi2
2.536 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.536 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.536 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
2.536 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.536 * [taylor]: Taking taylor expansion of phi1 in phi1
2.536 * [backup-simplify]: Simplify 0 into 0
2.536 * [backup-simplify]: Simplify 1 into 1
2.536 * [backup-simplify]: Simplify (* 1 1) into 1
2.536 * [backup-simplify]: Simplify (/ 1 1) into 1
2.536 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
2.536 * [taylor]: Taking taylor expansion of 2 in phi1
2.536 * [backup-simplify]: Simplify 2 into 2
2.536 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
2.536 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.536 * [taylor]: Taking taylor expansion of phi2 in phi1
2.536 * [backup-simplify]: Simplify phi2 into phi2
2.536 * [taylor]: Taking taylor expansion of phi1 in phi1
2.536 * [backup-simplify]: Simplify 0 into 0
2.536 * [backup-simplify]: Simplify 1 into 1
2.536 * [backup-simplify]: Simplify (* phi2 0) into 0
2.537 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.537 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.537 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.537 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.537 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.537 * [backup-simplify]: Simplify 0.5 into 0.5
2.537 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.537 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.537 * [taylor]: Taking taylor expansion of phi1 in phi1
2.537 * [backup-simplify]: Simplify 0 into 0
2.537 * [backup-simplify]: Simplify 1 into 1
2.537 * [backup-simplify]: Simplify (/ 1 1) into 1
2.537 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.537 * [taylor]: Taking taylor expansion of phi2 in phi1
2.537 * [backup-simplify]: Simplify phi2 into phi2
2.537 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.538 * [backup-simplify]: Simplify (+ 1 0) into 1
2.538 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.538 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.538 * [backup-simplify]: Simplify (+ 0 1) into 1
2.538 * [backup-simplify]: Simplify (+ 1 0) into 1
2.539 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.539 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.539 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.540 * [backup-simplify]: Simplify (+ 0 0) into 0
2.540 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
2.540 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2)))
2.540 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
2.540 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
2.541 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
2.541 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
2.541 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
2.541 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
2.541 * [taylor]: Taking taylor expansion of phi2 in phi2
2.541 * [backup-simplify]: Simplify 0 into 0
2.541 * [backup-simplify]: Simplify 1 into 1
2.541 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.541 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.541 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.541 * [backup-simplify]: Simplify 0.5 into 0.5
2.541 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.541 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.541 * [taylor]: Taking taylor expansion of phi1 in phi2
2.541 * [backup-simplify]: Simplify phi1 into phi1
2.541 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.541 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.541 * [taylor]: Taking taylor expansion of phi2 in phi2
2.541 * [backup-simplify]: Simplify 0 into 0
2.541 * [backup-simplify]: Simplify 1 into 1
2.541 * [backup-simplify]: Simplify (/ 1 1) into 1
2.541 * [backup-simplify]: Simplify (+ 0 1) into 1
2.542 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.542 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.542 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.542 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.542 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.543 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.543 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.543 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.543 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
2.543 * [taylor]: Taking taylor expansion of 1/2 in phi1
2.543 * [backup-simplify]: Simplify 1/2 into 1/2
2.543 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
2.543 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1
2.543 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1
2.543 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
2.543 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.543 * [taylor]: Taking taylor expansion of phi2 in phi1
2.543 * [backup-simplify]: Simplify phi2 into phi2
2.543 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.544 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.544 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
2.544 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.544 * [taylor]: Taking taylor expansion of phi1 in phi1
2.544 * [backup-simplify]: Simplify 0 into 0
2.544 * [backup-simplify]: Simplify 1 into 1
2.544 * [backup-simplify]: Simplify (* 1 1) into 1
2.544 * [backup-simplify]: Simplify (/ 1 1) into 1
2.544 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
2.544 * [taylor]: Taking taylor expansion of 2 in phi1
2.544 * [backup-simplify]: Simplify 2 into 2
2.544 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
2.544 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.544 * [taylor]: Taking taylor expansion of phi2 in phi1
2.544 * [backup-simplify]: Simplify phi2 into phi2
2.544 * [taylor]: Taking taylor expansion of phi1 in phi1
2.544 * [backup-simplify]: Simplify 0 into 0
2.544 * [backup-simplify]: Simplify 1 into 1
2.544 * [backup-simplify]: Simplify (* phi2 0) into 0
2.545 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.545 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.545 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.545 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.545 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.545 * [backup-simplify]: Simplify 0.5 into 0.5
2.545 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.545 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.545 * [taylor]: Taking taylor expansion of phi1 in phi1
2.545 * [backup-simplify]: Simplify 0 into 0
2.545 * [backup-simplify]: Simplify 1 into 1
2.545 * [backup-simplify]: Simplify (/ 1 1) into 1
2.545 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.545 * [taylor]: Taking taylor expansion of phi2 in phi1
2.545 * [backup-simplify]: Simplify phi2 into phi2
2.545 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.545 * [backup-simplify]: Simplify (+ 1 0) into 1
2.546 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.546 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.546 * [backup-simplify]: Simplify (+ 0 1) into 1
2.546 * [backup-simplify]: Simplify (+ 1 0) into 1
2.546 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.547 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.547 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.547 * [backup-simplify]: Simplify (+ 0 0) into 0
2.548 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
2.548 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2)))
2.548 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
2.548 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
2.548 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
2.549 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
2.549 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
2.549 * [taylor]: Taking taylor expansion of (* phi2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
2.549 * [taylor]: Taking taylor expansion of phi2 in phi2
2.549 * [backup-simplify]: Simplify 0 into 0
2.549 * [backup-simplify]: Simplify 1 into 1
2.549 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.549 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.549 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.549 * [backup-simplify]: Simplify 0.5 into 0.5
2.549 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.549 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.549 * [taylor]: Taking taylor expansion of phi1 in phi2
2.549 * [backup-simplify]: Simplify phi1 into phi1
2.549 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.549 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.549 * [taylor]: Taking taylor expansion of phi2 in phi2
2.549 * [backup-simplify]: Simplify 0 into 0
2.549 * [backup-simplify]: Simplify 1 into 1
2.549 * [backup-simplify]: Simplify (/ 1 1) into 1
2.549 * [backup-simplify]: Simplify (+ 0 1) into 1
2.550 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.550 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.550 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.550 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.550 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.550 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.551 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.551 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.552 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.552 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.552 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.552 * [backup-simplify]: Simplify (+ 0 0) into 0
2.553 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.553 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.554 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.554 * [backup-simplify]: Simplify (- 0) into 0
2.554 * [backup-simplify]: Simplify (+ 0 0) into 0
2.559 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
2.560 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
2.560 * [taylor]: Taking taylor expansion of 0 in phi1
2.560 * [backup-simplify]: Simplify 0 into 0
2.561 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.561 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.562 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.562 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.562 * [backup-simplify]: Simplify (+ 0 0) into 0
2.563 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.563 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.563 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.564 * [backup-simplify]: Simplify (- 0) into 0
2.564 * [backup-simplify]: Simplify (+ 0 0) into 0
2.564 * [taylor]: Taking taylor expansion of 0 in phi1
2.564 * [backup-simplify]: Simplify 0 into 0
2.564 * [taylor]: Taking taylor expansion of 0 in phi2
2.564 * [backup-simplify]: Simplify 0 into 0
2.564 * [taylor]: Taking taylor expansion of 0 in phi2
2.564 * [backup-simplify]: Simplify 0 into 0
2.564 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.565 * [taylor]: Taking taylor expansion of 0 in phi2
2.565 * [backup-simplify]: Simplify 0 into 0
2.565 * [taylor]: Taking taylor expansion of 0 in phi2
2.565 * [backup-simplify]: Simplify 0 into 0
2.565 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.565 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.566 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1)))) (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* 1 (/ 1 lambda1))))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 phi2)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 lambda2)) (pow (/ 1 lambda1) 2))))))) into (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))
2.567 * [backup-simplify]: Simplify (sqrt (+ (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))))
2.567 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda1 lambda2 phi1 phi2) around 0
2.567 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2
2.567 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2
2.567 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2
2.567 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
2.567 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
2.567 * [taylor]: Taking taylor expansion of phi2 in phi2
2.567 * [backup-simplify]: Simplify 0 into 0
2.567 * [backup-simplify]: Simplify 1 into 1
2.568 * [backup-simplify]: Simplify (* 1 1) into 1
2.568 * [backup-simplify]: Simplify (/ 1 1) into 1
2.568 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2
2.568 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2
2.568 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.568 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.568 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.568 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.568 * [backup-simplify]: Simplify -0.5 into -0.5
2.568 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.568 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.568 * [taylor]: Taking taylor expansion of phi1 in phi2
2.568 * [backup-simplify]: Simplify phi1 into phi1
2.568 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.568 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.568 * [taylor]: Taking taylor expansion of phi2 in phi2
2.568 * [backup-simplify]: Simplify 0 into 0
2.568 * [backup-simplify]: Simplify 1 into 1
2.568 * [backup-simplify]: Simplify (/ 1 1) into 1
2.569 * [backup-simplify]: Simplify (+ 0 1) into 1
2.569 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.569 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.569 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
2.569 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.569 * [backup-simplify]: Simplify lambda2 into lambda2
2.569 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.570 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.570 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.570 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2
2.570 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
2.570 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.570 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.570 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.570 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.570 * [backup-simplify]: Simplify -0.5 into -0.5
2.570 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.570 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.570 * [taylor]: Taking taylor expansion of phi1 in phi2
2.570 * [backup-simplify]: Simplify phi1 into phi1
2.570 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.570 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.570 * [taylor]: Taking taylor expansion of phi2 in phi2
2.570 * [backup-simplify]: Simplify 0 into 0
2.570 * [backup-simplify]: Simplify 1 into 1
2.570 * [backup-simplify]: Simplify (/ 1 1) into 1
2.571 * [backup-simplify]: Simplify (+ 0 1) into 1
2.571 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.571 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.571 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
2.571 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.571 * [backup-simplify]: Simplify lambda1 into lambda1
2.571 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.571 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.572 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
2.572 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
2.572 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
2.572 * [taylor]: Taking taylor expansion of phi1 in phi2
2.572 * [backup-simplify]: Simplify phi1 into phi1
2.572 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.572 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.572 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2
2.572 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
2.572 * [taylor]: Taking taylor expansion of 2 in phi2
2.572 * [backup-simplify]: Simplify 2 into 2
2.572 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
2.572 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.572 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.572 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.572 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.572 * [backup-simplify]: Simplify -0.5 into -0.5
2.572 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.572 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.572 * [taylor]: Taking taylor expansion of phi1 in phi2
2.572 * [backup-simplify]: Simplify phi1 into phi1
2.572 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.572 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.572 * [taylor]: Taking taylor expansion of phi2 in phi2
2.572 * [backup-simplify]: Simplify 0 into 0
2.572 * [backup-simplify]: Simplify 1 into 1
2.572 * [backup-simplify]: Simplify (/ 1 1) into 1
2.573 * [backup-simplify]: Simplify (+ 0 1) into 1
2.573 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.573 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.573 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
2.573 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.573 * [backup-simplify]: Simplify lambda2 into lambda2
2.573 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.573 * [backup-simplify]: Simplify lambda1 into lambda1
2.573 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.573 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
2.574 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
2.574 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
2.574 * [taylor]: Taking taylor expansion of 2 in phi2
2.574 * [backup-simplify]: Simplify 2 into 2
2.574 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
2.574 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
2.574 * [taylor]: Taking taylor expansion of phi2 in phi2
2.574 * [backup-simplify]: Simplify 0 into 0
2.574 * [backup-simplify]: Simplify 1 into 1
2.574 * [taylor]: Taking taylor expansion of phi1 in phi2
2.574 * [backup-simplify]: Simplify phi1 into phi1
2.574 * [backup-simplify]: Simplify (* 0 phi1) into 0
2.574 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
2.574 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.575 * [backup-simplify]: Simplify (+ 1 0) into 1
2.575 * [backup-simplify]: Simplify (+ 1 0) into 1
2.575 * [backup-simplify]: Simplify (sqrt 1) into 1
2.576 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.576 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.576 * [backup-simplify]: Simplify (+ 0 0) into 0
2.576 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
2.576 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1))
2.576 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
2.577 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
2.577 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
2.577 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1
2.577 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1
2.577 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1
2.577 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
2.577 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.577 * [taylor]: Taking taylor expansion of phi2 in phi1
2.577 * [backup-simplify]: Simplify phi2 into phi2
2.577 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.577 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.577 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1
2.578 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1
2.578 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.578 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.578 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.578 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.578 * [backup-simplify]: Simplify -0.5 into -0.5
2.578 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.578 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.578 * [taylor]: Taking taylor expansion of phi1 in phi1
2.578 * [backup-simplify]: Simplify 0 into 0
2.578 * [backup-simplify]: Simplify 1 into 1
2.578 * [backup-simplify]: Simplify (/ 1 1) into 1
2.578 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.578 * [taylor]: Taking taylor expansion of phi2 in phi1
2.578 * [backup-simplify]: Simplify phi2 into phi2
2.578 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.578 * [backup-simplify]: Simplify (+ 1 0) into 1
2.579 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.579 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.579 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
2.579 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.579 * [backup-simplify]: Simplify lambda2 into lambda2
2.579 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.579 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.579 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.579 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1
2.579 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
2.579 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.579 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.579 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.579 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.579 * [backup-simplify]: Simplify -0.5 into -0.5
2.579 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.579 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.579 * [taylor]: Taking taylor expansion of phi1 in phi1
2.579 * [backup-simplify]: Simplify 0 into 0
2.579 * [backup-simplify]: Simplify 1 into 1
2.580 * [backup-simplify]: Simplify (/ 1 1) into 1
2.580 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.580 * [taylor]: Taking taylor expansion of phi2 in phi1
2.580 * [backup-simplify]: Simplify phi2 into phi2
2.580 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.580 * [backup-simplify]: Simplify (+ 1 0) into 1
2.580 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.581 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.581 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
2.581 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.581 * [backup-simplify]: Simplify lambda1 into lambda1
2.581 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.581 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.581 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
2.581 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
2.581 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.581 * [taylor]: Taking taylor expansion of phi1 in phi1
2.581 * [backup-simplify]: Simplify 0 into 0
2.581 * [backup-simplify]: Simplify 1 into 1
2.581 * [backup-simplify]: Simplify (* 1 1) into 1
2.582 * [backup-simplify]: Simplify (/ 1 1) into 1
2.582 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1
2.582 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
2.582 * [taylor]: Taking taylor expansion of 2 in phi1
2.582 * [backup-simplify]: Simplify 2 into 2
2.582 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
2.582 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.582 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.582 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.582 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.582 * [backup-simplify]: Simplify -0.5 into -0.5
2.582 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.582 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.582 * [taylor]: Taking taylor expansion of phi1 in phi1
2.582 * [backup-simplify]: Simplify 0 into 0
2.582 * [backup-simplify]: Simplify 1 into 1
2.582 * [backup-simplify]: Simplify (/ 1 1) into 1
2.582 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.582 * [taylor]: Taking taylor expansion of phi2 in phi1
2.582 * [backup-simplify]: Simplify phi2 into phi2
2.582 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.583 * [backup-simplify]: Simplify (+ 1 0) into 1
2.583 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.583 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.583 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
2.583 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.583 * [backup-simplify]: Simplify lambda2 into lambda2
2.583 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.583 * [backup-simplify]: Simplify lambda1 into lambda1
2.583 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.583 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
2.583 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
2.584 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
2.584 * [taylor]: Taking taylor expansion of 2 in phi1
2.584 * [backup-simplify]: Simplify 2 into 2
2.584 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
2.584 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.584 * [taylor]: Taking taylor expansion of phi2 in phi1
2.584 * [backup-simplify]: Simplify phi2 into phi2
2.584 * [taylor]: Taking taylor expansion of phi1 in phi1
2.584 * [backup-simplify]: Simplify 0 into 0
2.584 * [backup-simplify]: Simplify 1 into 1
2.584 * [backup-simplify]: Simplify (* phi2 0) into 0
2.584 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.584 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.584 * [backup-simplify]: Simplify (+ 0 1) into 1
2.585 * [backup-simplify]: Simplify (+ 0 1) into 1
2.585 * [backup-simplify]: Simplify (+ 0 1) into 1
2.585 * [backup-simplify]: Simplify (+ 1 0) into 1
2.585 * [backup-simplify]: Simplify (sqrt 1) into 1
2.586 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.586 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.587 * [backup-simplify]: Simplify (+ 0 0) into 0
2.587 * [backup-simplify]: Simplify (+ 0 0) into 0
2.587 * [backup-simplify]: Simplify (+ 0 0) into 0
2.587 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
2.587 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2))
2.587 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2)))
2.587 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
2.588 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
2.588 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2
2.588 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2
2.588 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2
2.588 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
2.588 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.588 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.588 * [backup-simplify]: Simplify phi2 into phi2
2.588 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.588 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.588 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2
2.588 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2
2.588 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.588 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.588 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.588 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.588 * [backup-simplify]: Simplify -0.5 into -0.5
2.588 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.588 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.588 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.588 * [backup-simplify]: Simplify phi1 into phi1
2.588 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.588 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.588 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.588 * [backup-simplify]: Simplify phi2 into phi2
2.588 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.589 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.589 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.589 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.589 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.589 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.589 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.589 * [backup-simplify]: Simplify (- 0) into 0
2.590 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.590 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.590 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.590 * [backup-simplify]: Simplify 0 into 0
2.590 * [backup-simplify]: Simplify 1 into 1
2.590 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.590 * [backup-simplify]: Simplify (* 1 1) into 1
2.590 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.590 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2
2.590 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
2.590 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.590 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.590 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.590 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.590 * [backup-simplify]: Simplify -0.5 into -0.5
2.590 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.590 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.590 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.590 * [backup-simplify]: Simplify phi1 into phi1
2.591 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.591 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.591 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.591 * [backup-simplify]: Simplify phi2 into phi2
2.591 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.591 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.591 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.591 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.591 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.591 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.591 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.591 * [backup-simplify]: Simplify (- 0) into 0
2.592 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.592 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
2.592 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.592 * [backup-simplify]: Simplify lambda1 into lambda1
2.592 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.592 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
2.592 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
2.592 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
2.592 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.592 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.592 * [backup-simplify]: Simplify phi1 into phi1
2.592 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.592 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.592 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2
2.592 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
2.592 * [taylor]: Taking taylor expansion of 2 in lambda2
2.592 * [backup-simplify]: Simplify 2 into 2
2.592 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
2.593 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.593 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.593 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.593 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.593 * [backup-simplify]: Simplify -0.5 into -0.5
2.593 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.593 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.593 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.593 * [backup-simplify]: Simplify phi1 into phi1
2.593 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.593 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.593 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.593 * [backup-simplify]: Simplify phi2 into phi2
2.593 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.593 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.593 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.593 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.593 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.593 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.593 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.594 * [backup-simplify]: Simplify (- 0) into 0
2.594 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.594 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
2.594 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.594 * [backup-simplify]: Simplify 0 into 0
2.594 * [backup-simplify]: Simplify 1 into 1
2.594 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.594 * [backup-simplify]: Simplify lambda1 into lambda1
2.594 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.594 * [backup-simplify]: Simplify (* 0 lambda1) into 0
2.594 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
2.595 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
2.595 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
2.595 * [taylor]: Taking taylor expansion of 2 in lambda2
2.595 * [backup-simplify]: Simplify 2 into 2
2.595 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
2.595 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.595 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.595 * [backup-simplify]: Simplify phi2 into phi2
2.595 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.595 * [backup-simplify]: Simplify phi1 into phi1
2.595 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.595 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.595 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.595 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.596 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.596 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.596 * [backup-simplify]: Simplify (+ 0) into 0
2.596 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.597 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.597 * [backup-simplify]: Simplify (+ 0 0) into 0
2.597 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.598 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.598 * [backup-simplify]: Simplify (- 0) into 0
2.599 * [backup-simplify]: Simplify (+ 0 0) into 0
2.599 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.599 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.600 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
2.600 * [backup-simplify]: Simplify (+ 0 0) into 0
2.601 * [backup-simplify]: Simplify (+ 0 0) into 0
2.601 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
2.601 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
2.601 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
2.602 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
2.602 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
2.602 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1
2.602 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1
2.602 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1
2.602 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
2.602 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
2.602 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.602 * [backup-simplify]: Simplify phi2 into phi2
2.602 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.602 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.602 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1
2.603 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1
2.603 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.603 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.603 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.603 * [taylor]: Taking taylor expansion of -0.5 in lambda1
2.603 * [backup-simplify]: Simplify -0.5 into -0.5
2.603 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.603 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.603 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.603 * [backup-simplify]: Simplify phi1 into phi1
2.603 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.603 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.603 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.603 * [backup-simplify]: Simplify phi2 into phi2
2.603 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.603 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.603 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.603 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.603 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.603 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.603 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.604 * [backup-simplify]: Simplify (- 0) into 0
2.604 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.604 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
2.604 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.604 * [backup-simplify]: Simplify lambda2 into lambda2
2.604 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.604 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.604 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.604 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1
2.604 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
2.604 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.604 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.604 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.605 * [taylor]: Taking taylor expansion of -0.5 in lambda1
2.605 * [backup-simplify]: Simplify -0.5 into -0.5
2.605 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.605 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.605 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.605 * [backup-simplify]: Simplify phi1 into phi1
2.605 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.605 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.605 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.605 * [backup-simplify]: Simplify phi2 into phi2
2.605 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.605 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.605 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.605 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.605 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.605 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.605 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.606 * [backup-simplify]: Simplify (- 0) into 0
2.606 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.606 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
2.606 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.606 * [backup-simplify]: Simplify 0 into 0
2.606 * [backup-simplify]: Simplify 1 into 1
2.606 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.606 * [backup-simplify]: Simplify (* 1 1) into 1
2.606 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.607 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
2.607 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
2.607 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.607 * [backup-simplify]: Simplify phi1 into phi1
2.607 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.607 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.607 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1
2.607 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
2.607 * [taylor]: Taking taylor expansion of 2 in lambda1
2.607 * [backup-simplify]: Simplify 2 into 2
2.607 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
2.607 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.607 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.607 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.607 * [taylor]: Taking taylor expansion of -0.5 in lambda1
2.607 * [backup-simplify]: Simplify -0.5 into -0.5
2.607 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.607 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.607 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.607 * [backup-simplify]: Simplify phi1 into phi1
2.607 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.607 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.607 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.607 * [backup-simplify]: Simplify phi2 into phi2
2.607 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.607 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.607 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.607 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.607 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.608 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.608 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.608 * [backup-simplify]: Simplify (- 0) into 0
2.608 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.608 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
2.608 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.608 * [backup-simplify]: Simplify lambda2 into lambda2
2.608 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.608 * [backup-simplify]: Simplify 0 into 0
2.608 * [backup-simplify]: Simplify 1 into 1
2.608 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.608 * [backup-simplify]: Simplify (* lambda2 0) into 0
2.609 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
2.609 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
2.609 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
2.609 * [taylor]: Taking taylor expansion of 2 in lambda1
2.609 * [backup-simplify]: Simplify 2 into 2
2.609 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
2.609 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
2.609 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.609 * [backup-simplify]: Simplify phi2 into phi2
2.609 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.609 * [backup-simplify]: Simplify phi1 into phi1
2.609 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.609 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.609 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.610 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.610 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.610 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.610 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.610 * [backup-simplify]: Simplify (+ 0) into 0
2.611 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.611 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.611 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.611 * [backup-simplify]: Simplify (+ 0 0) into 0
2.612 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.612 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.612 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.613 * [backup-simplify]: Simplify (- 0) into 0
2.613 * [backup-simplify]: Simplify (+ 0 0) into 0
2.613 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.613 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.614 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
2.614 * [backup-simplify]: Simplify (+ 0 0) into 0
2.615 * [backup-simplify]: Simplify (+ 0 0) into 0
2.615 * [backup-simplify]: Simplify (+ 0 0) into 0
2.615 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
2.615 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
2.616 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.616 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.616 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
2.616 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1
2.617 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1
2.617 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1
2.617 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
2.617 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
2.617 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.617 * [backup-simplify]: Simplify phi2 into phi2
2.617 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.617 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.617 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1
2.617 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1
2.617 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.617 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.617 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.617 * [taylor]: Taking taylor expansion of -0.5 in lambda1
2.617 * [backup-simplify]: Simplify -0.5 into -0.5
2.617 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.617 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.617 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.617 * [backup-simplify]: Simplify phi1 into phi1
2.617 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.617 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.617 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.617 * [backup-simplify]: Simplify phi2 into phi2
2.617 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.617 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.617 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.617 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.617 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.618 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.618 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.618 * [backup-simplify]: Simplify (- 0) into 0
2.618 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.618 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
2.618 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.618 * [backup-simplify]: Simplify lambda2 into lambda2
2.618 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.618 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
2.619 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.619 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1
2.619 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
2.619 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.619 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.619 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.619 * [taylor]: Taking taylor expansion of -0.5 in lambda1
2.619 * [backup-simplify]: Simplify -0.5 into -0.5
2.619 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.619 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.619 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.619 * [backup-simplify]: Simplify phi1 into phi1
2.619 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.619 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.619 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.619 * [backup-simplify]: Simplify phi2 into phi2
2.619 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.619 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.619 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.619 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.619 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.620 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.620 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.620 * [backup-simplify]: Simplify (- 0) into 0
2.620 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.620 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
2.620 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.620 * [backup-simplify]: Simplify 0 into 0
2.620 * [backup-simplify]: Simplify 1 into 1
2.620 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.621 * [backup-simplify]: Simplify (* 1 1) into 1
2.621 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.621 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
2.621 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
2.621 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.621 * [backup-simplify]: Simplify phi1 into phi1
2.621 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.621 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.621 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1
2.621 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
2.621 * [taylor]: Taking taylor expansion of 2 in lambda1
2.621 * [backup-simplify]: Simplify 2 into 2
2.621 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
2.621 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.621 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.621 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.621 * [taylor]: Taking taylor expansion of -0.5 in lambda1
2.621 * [backup-simplify]: Simplify -0.5 into -0.5
2.621 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.621 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.621 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.621 * [backup-simplify]: Simplify phi1 into phi1
2.621 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.621 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.621 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.621 * [backup-simplify]: Simplify phi2 into phi2
2.621 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.622 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.622 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.622 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.622 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.622 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.622 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.622 * [backup-simplify]: Simplify (- 0) into 0
2.622 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.623 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
2.623 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.623 * [backup-simplify]: Simplify lambda2 into lambda2
2.623 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.623 * [backup-simplify]: Simplify 0 into 0
2.623 * [backup-simplify]: Simplify 1 into 1
2.623 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.623 * [backup-simplify]: Simplify (* lambda2 0) into 0
2.623 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
2.623 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
2.623 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
2.623 * [taylor]: Taking taylor expansion of 2 in lambda1
2.623 * [backup-simplify]: Simplify 2 into 2
2.623 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
2.623 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
2.623 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.623 * [backup-simplify]: Simplify phi2 into phi2
2.623 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.623 * [backup-simplify]: Simplify phi1 into phi1
2.623 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.624 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.624 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.624 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.624 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.624 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.625 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.625 * [backup-simplify]: Simplify (+ 0) into 0
2.625 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.625 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.625 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.626 * [backup-simplify]: Simplify (+ 0 0) into 0
2.626 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.627 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.627 * [backup-simplify]: Simplify (- 0) into 0
2.628 * [backup-simplify]: Simplify (+ 0 0) into 0
2.628 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.628 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.629 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
2.629 * [backup-simplify]: Simplify (+ 0 0) into 0
2.629 * [backup-simplify]: Simplify (+ 0 0) into 0
2.630 * [backup-simplify]: Simplify (+ 0 0) into 0
2.630 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
2.630 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
2.630 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.631 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.631 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
2.631 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.631 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.631 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.631 * [backup-simplify]: Simplify -0.5 into -0.5
2.631 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.631 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.631 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.631 * [backup-simplify]: Simplify phi1 into phi1
2.631 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.631 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.631 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.631 * [backup-simplify]: Simplify phi2 into phi2
2.632 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.632 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.632 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.632 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.632 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.632 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) in lambda2
2.632 * [taylor]: Taking taylor expansion of -1 in lambda2
2.632 * [backup-simplify]: Simplify -1 into -1
2.632 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2) in lambda2
2.632 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.632 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.632 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.632 * [backup-simplify]: Simplify -0.5 into -0.5
2.632 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.632 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.632 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.632 * [backup-simplify]: Simplify phi1 into phi1
2.632 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.632 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.632 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.632 * [backup-simplify]: Simplify phi2 into phi2
2.632 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.632 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.632 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.633 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.633 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.633 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.633 * [backup-simplify]: Simplify 0 into 0
2.633 * [backup-simplify]: Simplify 1 into 1
2.633 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.633 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.633 * [backup-simplify]: Simplify (- 0) into 0
2.633 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.634 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.634 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.634 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
2.634 * [taylor]: Taking taylor expansion of -1 in phi1
2.634 * [backup-simplify]: Simplify -1 into -1
2.634 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.634 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.634 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.634 * [backup-simplify]: Simplify -0.5 into -0.5
2.634 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.634 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.634 * [taylor]: Taking taylor expansion of phi1 in phi1
2.634 * [backup-simplify]: Simplify 0 into 0
2.634 * [backup-simplify]: Simplify 1 into 1
2.634 * [backup-simplify]: Simplify (/ 1 1) into 1
2.634 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.634 * [taylor]: Taking taylor expansion of phi2 in phi1
2.634 * [backup-simplify]: Simplify phi2 into phi2
2.634 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.634 * [backup-simplify]: Simplify (+ 1 0) into 1
2.635 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.635 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.635 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.635 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.635 * [backup-simplify]: Simplify (- 0) into 0
2.636 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.636 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.636 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.636 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.636 * [backup-simplify]: Simplify -0.5 into -0.5
2.636 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.636 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.636 * [taylor]: Taking taylor expansion of phi1 in phi1
2.636 * [backup-simplify]: Simplify 0 into 0
2.636 * [backup-simplify]: Simplify 1 into 1
2.636 * [backup-simplify]: Simplify (/ 1 1) into 1
2.636 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.636 * [taylor]: Taking taylor expansion of phi2 in phi1
2.636 * [backup-simplify]: Simplify phi2 into phi2
2.636 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.637 * [backup-simplify]: Simplify (+ 1 0) into 1
2.637 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.637 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.637 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.638 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.638 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.638 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.638 * [backup-simplify]: Simplify (+ 0 0) into 0
2.639 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.639 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.640 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.640 * [backup-simplify]: Simplify (- 0) into 0
2.640 * [backup-simplify]: Simplify (+ 0 0) into 0
2.641 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
2.641 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
2.642 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0
2.642 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2))
2.643 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))
2.643 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))
2.644 * [backup-simplify]: Simplify (+ 0) into 0
2.644 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.644 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.644 * [backup-simplify]: Simplify (+ 0 0) into 0
2.645 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.645 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.646 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.646 * [backup-simplify]: Simplify (- 0) into 0
2.646 * [backup-simplify]: Simplify (+ 0 0) into 0
2.646 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.647 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 1) (* 0 0))) into 0
2.647 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)))) into 0
2.648 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into 0
2.648 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
2.648 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1)))
2.648 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1))))
2.648 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1))))
2.650 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.650 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
2.650 * [taylor]: Taking taylor expansion of 1/2 in lambda2
2.650 * [backup-simplify]: Simplify 1/2 into 1/2
2.650 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
2.650 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2
2.650 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in lambda2
2.650 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
2.650 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.650 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.650 * [backup-simplify]: Simplify phi2 into phi2
2.650 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.650 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.650 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
2.650 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.650 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.650 * [backup-simplify]: Simplify phi1 into phi1
2.650 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.650 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.650 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
2.650 * [taylor]: Taking taylor expansion of 2 in lambda2
2.650 * [backup-simplify]: Simplify 2 into 2
2.651 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
2.651 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
2.651 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.651 * [backup-simplify]: Simplify phi2 into phi2
2.651 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.651 * [backup-simplify]: Simplify phi1 into phi1
2.651 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
2.651 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.651 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.651 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.651 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.651 * [backup-simplify]: Simplify -0.5 into -0.5
2.651 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.651 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.651 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.651 * [backup-simplify]: Simplify phi1 into phi1
2.651 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.651 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.651 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.651 * [backup-simplify]: Simplify phi2 into phi2
2.651 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.651 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.651 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.651 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.651 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.652 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
2.652 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
2.652 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1))))
2.652 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1))))
2.652 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.652 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.653 * [backup-simplify]: Simplify (- 0) into 0
2.653 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.654 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.655 * [backup-simplify]: Simplify (+ 0) into 0
2.655 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.656 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.656 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.656 * [backup-simplify]: Simplify (+ 0 0) into 0
2.657 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.658 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.658 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.659 * [backup-simplify]: Simplify (- 0) into 0
2.659 * [backup-simplify]: Simplify (+ 0 0) into 0
2.660 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)))) into 0
2.661 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.661 * [taylor]: Taking taylor expansion of 0 in phi1
2.661 * [backup-simplify]: Simplify 0 into 0
2.661 * [backup-simplify]: Simplify (+ 0) into 0
2.662 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.662 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.662 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.663 * [backup-simplify]: Simplify (+ 0 0) into 0
2.663 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.664 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.665 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.665 * [backup-simplify]: Simplify (- 0) into 0
2.665 * [backup-simplify]: Simplify (+ 0 0) into 0
2.665 * [taylor]: Taking taylor expansion of 0 in phi1
2.665 * [backup-simplify]: Simplify 0 into 0
2.666 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.666 * [taylor]: Taking taylor expansion of (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
2.666 * [taylor]: Taking taylor expansion of -1 in phi2
2.666 * [backup-simplify]: Simplify -1 into -1
2.666 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.666 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.666 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.666 * [backup-simplify]: Simplify -0.5 into -0.5
2.666 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.666 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.666 * [taylor]: Taking taylor expansion of phi1 in phi2
2.666 * [backup-simplify]: Simplify phi1 into phi1
2.666 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.666 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.666 * [taylor]: Taking taylor expansion of phi2 in phi2
2.666 * [backup-simplify]: Simplify 0 into 0
2.666 * [backup-simplify]: Simplify 1 into 1
2.667 * [backup-simplify]: Simplify (/ 1 1) into 1
2.667 * [backup-simplify]: Simplify (+ 0 1) into 1
2.668 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.668 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.668 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.668 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.668 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.668 * [backup-simplify]: Simplify -0.5 into -0.5
2.668 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.668 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.668 * [taylor]: Taking taylor expansion of phi1 in phi2
2.668 * [backup-simplify]: Simplify phi1 into phi1
2.668 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.668 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.668 * [taylor]: Taking taylor expansion of phi2 in phi2
2.668 * [backup-simplify]: Simplify 0 into 0
2.668 * [backup-simplify]: Simplify 1 into 1
2.669 * [backup-simplify]: Simplify (/ 1 1) into 1
2.669 * [backup-simplify]: Simplify (+ 0 1) into 1
2.669 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.670 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.670 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.670 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0
2.676 * [backup-simplify]: Simplify (+ 0) into 0
2.677 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.677 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.677 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.678 * [backup-simplify]: Simplify (+ 0 0) into 0
2.678 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.680 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.680 * [backup-simplify]: Simplify (- 0) into 0
2.680 * [backup-simplify]: Simplify (+ 0 0) into 0
2.681 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.681 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
2.682 * [backup-simplify]: Simplify (- (/ 0 (pow lambda2 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 0 (pow lambda2 2))))) into 0
2.683 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
2.684 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
2.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.684 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.684 * [backup-simplify]: Simplify (+ 0 0) into 0
2.686 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
2.688 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
2.689 * [backup-simplify]: Simplify (- 0) into 0
2.689 * [backup-simplify]: Simplify (+ 0 0) into 0
2.690 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
2.691 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
2.694 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
2.694 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.694 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0
2.694 * [backup-simplify]: Simplify (+ 0 0) into 0
2.695 * [backup-simplify]: Simplify (+ 0 0) into 0
2.695 * [backup-simplify]: Simplify (+ 0 0) into 0
2.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.697 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.698 * [backup-simplify]: Simplify (+ 0 0) into 0
2.699 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.699 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.700 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.701 * [backup-simplify]: Simplify (- 0) into 0
2.701 * [backup-simplify]: Simplify (+ 0 0) into 0
2.702 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
2.703 * [backup-simplify]: Simplify (+ (* lambda2 0) (+ (* 0 0) (+ (* 0 1) (* 0 0)))) into 0
2.703 * [backup-simplify]: Simplify (- (/ 0 lambda2) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (/ 0 lambda2)) (* 0 (/ 0 lambda2)))) into 0
2.704 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into 0
2.705 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
2.705 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0
2.705 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0
2.706 * [backup-simplify]: Simplify (+ 0 0) into 0
2.706 * [backup-simplify]: Simplify (- 0) into 0
2.706 * [backup-simplify]: Simplify (+ 0 0) into 0
2.708 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.708 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda2
2.708 * [taylor]: Taking taylor expansion of 1/2 in lambda2
2.708 * [backup-simplify]: Simplify 1/2 into 1/2
2.708 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda2
2.708 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) (* 2 (/ 1 (* phi2 (* lambda2 phi1))))) in lambda2
2.708 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda2 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda2))) in lambda2
2.708 * [taylor]: Taking taylor expansion of (/ 1 (* lambda2 (pow phi1 2))) in lambda2
2.708 * [taylor]: Taking taylor expansion of (* lambda2 (pow phi1 2)) in lambda2
2.709 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.709 * [backup-simplify]: Simplify 0 into 0
2.709 * [backup-simplify]: Simplify 1 into 1
2.709 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
2.709 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.709 * [backup-simplify]: Simplify phi1 into phi1
2.709 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
2.709 * [backup-simplify]: Simplify (* 0 (pow phi1 2)) into 0
2.709 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
2.710 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow phi1 2))) into (pow phi1 2)
2.710 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
2.710 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda2)) in lambda2
2.710 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda2) in lambda2
2.710 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
2.710 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.710 * [backup-simplify]: Simplify phi2 into phi2
2.710 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.710 * [backup-simplify]: Simplify 0 into 0
2.710 * [backup-simplify]: Simplify 1 into 1
2.710 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.710 * [backup-simplify]: Simplify (* (pow phi2 2) 0) into 0
2.710 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
2.711 * [backup-simplify]: Simplify (+ (* (pow phi2 2) 1) (* 0 0)) into (pow phi2 2)
2.711 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.711 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda2 phi1)))) in lambda2
2.711 * [taylor]: Taking taylor expansion of 2 in lambda2
2.711 * [backup-simplify]: Simplify 2 into 2
2.711 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda2 phi1))) in lambda2
2.711 * [taylor]: Taking taylor expansion of (* phi2 (* lambda2 phi1)) in lambda2
2.711 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.711 * [backup-simplify]: Simplify phi2 into phi2
2.711 * [taylor]: Taking taylor expansion of (* lambda2 phi1) in lambda2
2.711 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.711 * [backup-simplify]: Simplify 0 into 0
2.711 * [backup-simplify]: Simplify 1 into 1
2.711 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.711 * [backup-simplify]: Simplify phi1 into phi1
2.711 * [backup-simplify]: Simplify (* 0 phi1) into 0
2.711 * [backup-simplify]: Simplify (* phi2 0) into 0
2.712 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
2.712 * [backup-simplify]: Simplify (+ (* phi2 phi1) (* 0 0)) into (* phi2 phi1)
2.713 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
2.713 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.713 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.713 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.713 * [backup-simplify]: Simplify -0.5 into -0.5
2.713 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.713 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.713 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.713 * [backup-simplify]: Simplify phi1 into phi1
2.713 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.713 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.713 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.713 * [backup-simplify]: Simplify phi2 into phi2
2.713 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.713 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.713 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.714 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.714 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.714 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ 1 (pow phi2 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
2.714 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
2.714 * [backup-simplify]: Simplify (- (/ 2 (* phi2 phi1))) into (- (* 2 (/ 1 (* phi2 phi1))))
2.715 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1))))
2.715 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.715 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.716 * [backup-simplify]: Simplify (- 0) into 0
2.716 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.717 * [backup-simplify]: Simplify (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.717 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.717 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
2.717 * [taylor]: Taking taylor expansion of 1/2 in phi1
2.718 * [backup-simplify]: Simplify 1/2 into 1/2
2.718 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
2.718 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1
2.718 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1
2.718 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
2.718 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.718 * [taylor]: Taking taylor expansion of phi2 in phi1
2.718 * [backup-simplify]: Simplify phi2 into phi2
2.718 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.718 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.718 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
2.718 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.718 * [taylor]: Taking taylor expansion of phi1 in phi1
2.718 * [backup-simplify]: Simplify 0 into 0
2.718 * [backup-simplify]: Simplify 1 into 1
2.718 * [backup-simplify]: Simplify (* 1 1) into 1
2.719 * [backup-simplify]: Simplify (/ 1 1) into 1
2.719 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
2.719 * [taylor]: Taking taylor expansion of 2 in phi1
2.719 * [backup-simplify]: Simplify 2 into 2
2.719 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
2.719 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.719 * [taylor]: Taking taylor expansion of phi2 in phi1
2.719 * [backup-simplify]: Simplify phi2 into phi2
2.719 * [taylor]: Taking taylor expansion of phi1 in phi1
2.719 * [backup-simplify]: Simplify 0 into 0
2.719 * [backup-simplify]: Simplify 1 into 1
2.719 * [backup-simplify]: Simplify (* phi2 0) into 0
2.720 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.720 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.720 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.720 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.720 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.720 * [backup-simplify]: Simplify -0.5 into -0.5
2.720 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.720 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.720 * [taylor]: Taking taylor expansion of phi1 in phi1
2.720 * [backup-simplify]: Simplify 0 into 0
2.720 * [backup-simplify]: Simplify 1 into 1
2.720 * [backup-simplify]: Simplify (/ 1 1) into 1
2.720 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.720 * [taylor]: Taking taylor expansion of phi2 in phi1
2.720 * [backup-simplify]: Simplify phi2 into phi2
2.720 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.721 * [backup-simplify]: Simplify (+ 1 0) into 1
2.721 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.722 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.722 * [backup-simplify]: Simplify (+ 0 1) into 1
2.722 * [backup-simplify]: Simplify (+ 1 0) into 1
2.723 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.723 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.724 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.724 * [backup-simplify]: Simplify (+ 0 0) into 0
2.725 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
2.725 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2)))
2.725 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
2.726 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
2.726 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
2.726 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
2.726 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
2.726 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
2.726 * [taylor]: Taking taylor expansion of phi2 in phi2
2.726 * [backup-simplify]: Simplify 0 into 0
2.726 * [backup-simplify]: Simplify 1 into 1
2.726 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.726 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.726 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.726 * [backup-simplify]: Simplify -0.5 into -0.5
2.726 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.726 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.726 * [taylor]: Taking taylor expansion of phi1 in phi2
2.727 * [backup-simplify]: Simplify phi1 into phi1
2.727 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.727 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.727 * [taylor]: Taking taylor expansion of phi2 in phi2
2.727 * [backup-simplify]: Simplify 0 into 0
2.727 * [backup-simplify]: Simplify 1 into 1
2.727 * [backup-simplify]: Simplify (/ 1 1) into 1
2.727 * [backup-simplify]: Simplify (+ 0 1) into 1
2.728 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.728 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.728 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.729 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.729 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.729 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.730 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.730 * [backup-simplify]: Simplify (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.731 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
2.731 * [taylor]: Taking taylor expansion of 1/2 in phi1
2.731 * [backup-simplify]: Simplify 1/2 into 1/2
2.731 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
2.731 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi1
2.731 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi1
2.731 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
2.731 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
2.731 * [taylor]: Taking taylor expansion of phi2 in phi1
2.731 * [backup-simplify]: Simplify phi2 into phi2
2.731 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
2.731 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
2.731 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
2.731 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
2.731 * [taylor]: Taking taylor expansion of phi1 in phi1
2.731 * [backup-simplify]: Simplify 0 into 0
2.731 * [backup-simplify]: Simplify 1 into 1
2.732 * [backup-simplify]: Simplify (* 1 1) into 1
2.732 * [backup-simplify]: Simplify (/ 1 1) into 1
2.732 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
2.732 * [taylor]: Taking taylor expansion of 2 in phi1
2.732 * [backup-simplify]: Simplify 2 into 2
2.732 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
2.732 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
2.732 * [taylor]: Taking taylor expansion of phi2 in phi1
2.732 * [backup-simplify]: Simplify phi2 into phi2
2.732 * [taylor]: Taking taylor expansion of phi1 in phi1
2.732 * [backup-simplify]: Simplify 0 into 0
2.732 * [backup-simplify]: Simplify 1 into 1
2.732 * [backup-simplify]: Simplify (* phi2 0) into 0
2.733 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
2.733 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.733 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.733 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.733 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.733 * [backup-simplify]: Simplify -0.5 into -0.5
2.733 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.733 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.733 * [taylor]: Taking taylor expansion of phi1 in phi1
2.733 * [backup-simplify]: Simplify 0 into 0
2.733 * [backup-simplify]: Simplify 1 into 1
2.733 * [backup-simplify]: Simplify (/ 1 1) into 1
2.733 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.733 * [taylor]: Taking taylor expansion of phi2 in phi1
2.733 * [backup-simplify]: Simplify phi2 into phi2
2.734 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.734 * [backup-simplify]: Simplify (+ 1 0) into 1
2.734 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.735 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.735 * [backup-simplify]: Simplify (+ 0 1) into 1
2.735 * [backup-simplify]: Simplify (+ 1 0) into 1
2.736 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.736 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
2.737 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.738 * [backup-simplify]: Simplify (+ 0 0) into 0
2.738 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
2.738 * [backup-simplify]: Simplify (- (/ 2 phi2)) into (- (* 2 (/ 1 phi2)))
2.738 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
2.739 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi2))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
2.739 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
2.739 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi2
2.739 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
2.739 * [taylor]: Taking taylor expansion of (* phi2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
2.739 * [taylor]: Taking taylor expansion of phi2 in phi2
2.740 * [backup-simplify]: Simplify 0 into 0
2.740 * [backup-simplify]: Simplify 1 into 1
2.740 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.740 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.740 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.740 * [backup-simplify]: Simplify -0.5 into -0.5
2.740 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.740 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.740 * [taylor]: Taking taylor expansion of phi1 in phi2
2.740 * [backup-simplify]: Simplify phi1 into phi1
2.740 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.740 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.740 * [taylor]: Taking taylor expansion of phi2 in phi2
2.740 * [backup-simplify]: Simplify 0 into 0
2.740 * [backup-simplify]: Simplify 1 into 1
2.740 * [backup-simplify]: Simplify (/ 1 1) into 1
2.741 * [backup-simplify]: Simplify (+ 0 1) into 1
2.741 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.741 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.742 * [backup-simplify]: Simplify (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.742 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.742 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.743 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.743 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
2.744 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.745 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.745 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.745 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.746 * [backup-simplify]: Simplify (+ 0 0) into 0
2.747 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.748 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.748 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.749 * [backup-simplify]: Simplify (- 0) into 0
2.749 * [backup-simplify]: Simplify (+ 0 0) into 0
2.751 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
2.752 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
2.752 * [taylor]: Taking taylor expansion of 0 in phi1
2.752 * [backup-simplify]: Simplify 0 into 0
2.753 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.753 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.754 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.754 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.754 * [backup-simplify]: Simplify (+ 0 0) into 0
2.755 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.756 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.757 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.757 * [backup-simplify]: Simplify (- 0) into 0
2.757 * [backup-simplify]: Simplify (+ 0 0) into 0
2.757 * [taylor]: Taking taylor expansion of 0 in phi1
2.757 * [backup-simplify]: Simplify 0 into 0
2.757 * [taylor]: Taking taylor expansion of 0 in phi2
2.757 * [backup-simplify]: Simplify 0 into 0
2.758 * [taylor]: Taking taylor expansion of 0 in phi2
2.758 * [backup-simplify]: Simplify 0 into 0
2.758 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.758 * [taylor]: Taking taylor expansion of 0 in phi2
2.758 * [backup-simplify]: Simplify 0 into 0
2.758 * [taylor]: Taking taylor expansion of 0 in phi2
2.758 * [backup-simplify]: Simplify 0 into 0
2.759 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.759 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
2.761 * [backup-simplify]: Simplify (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1)))) (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* 1 (/ 1 (- lambda1)))))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- phi2))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- lambda2))) (pow (/ 1 (- lambda1)) 2))))))) into (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))
2.761 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2)
2.761 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1)))
2.761 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0
2.761 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
2.761 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
2.762 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.762 * [backup-simplify]: Simplify 0.5 into 0.5
2.762 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
2.762 * [taylor]: Taking taylor expansion of phi2 in phi2
2.762 * [backup-simplify]: Simplify 0 into 0
2.762 * [backup-simplify]: Simplify 1 into 1
2.762 * [taylor]: Taking taylor expansion of phi1 in phi2
2.762 * [backup-simplify]: Simplify phi1 into phi1
2.762 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
2.762 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
2.762 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
2.762 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
2.762 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.762 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.762 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.762 * [backup-simplify]: Simplify 0.5 into 0.5
2.762 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.762 * [taylor]: Taking taylor expansion of phi2 in phi1
2.762 * [backup-simplify]: Simplify phi2 into phi2
2.762 * [taylor]: Taking taylor expansion of phi1 in phi1
2.762 * [backup-simplify]: Simplify 0 into 0
2.762 * [backup-simplify]: Simplify 1 into 1
2.762 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.762 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.762 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.763 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.763 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.763 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.763 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.763 * [backup-simplify]: Simplify 0.5 into 0.5
2.763 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.763 * [taylor]: Taking taylor expansion of phi2 in phi1
2.763 * [backup-simplify]: Simplify phi2 into phi2
2.763 * [taylor]: Taking taylor expansion of phi1 in phi1
2.763 * [backup-simplify]: Simplify 0 into 0
2.763 * [backup-simplify]: Simplify 1 into 1
2.763 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.763 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.763 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.763 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.763 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.763 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.764 * [backup-simplify]: Simplify (- 0) into 0
2.764 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.764 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.764 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.764 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.764 * [backup-simplify]: Simplify 0.5 into 0.5
2.764 * [taylor]: Taking taylor expansion of phi2 in phi2
2.764 * [backup-simplify]: Simplify 0 into 0
2.764 * [backup-simplify]: Simplify 1 into 1
2.765 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.766 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.766 * [backup-simplify]: Simplify 1 into 1
2.767 * [backup-simplify]: Simplify (+ 0) into 0
2.767 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
2.768 * [backup-simplify]: Simplify (+ 0 1) into 1
2.768 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
2.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.771 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
2.771 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.771 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.771 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2
2.771 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
2.771 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.771 * [backup-simplify]: Simplify 0.5 into 0.5
2.771 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
2.771 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.771 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.771 * [backup-simplify]: Simplify 0.5 into 0.5
2.771 * [taylor]: Taking taylor expansion of phi2 in phi2
2.771 * [backup-simplify]: Simplify 0 into 0
2.771 * [backup-simplify]: Simplify 1 into 1
2.772 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.773 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.774 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.774 * [backup-simplify]: Simplify (- 0) into 0
2.774 * [backup-simplify]: Simplify 0 into 0
2.775 * [backup-simplify]: Simplify (+ 0) into 0
2.775 * [backup-simplify]: Simplify 0 into 0
2.777 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
2.778 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2))))
2.779 * [backup-simplify]: Simplify (+ 0 0) into 0
2.780 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0
2.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.781 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0
2.781 * [backup-simplify]: Simplify (- 0) into 0
2.781 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2))))
2.782 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2
2.782 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2
2.782 * [taylor]: Taking taylor expansion of 0.125 in phi2
2.782 * [backup-simplify]: Simplify 0.125 into 0.125
2.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.782 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.782 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.782 * [backup-simplify]: Simplify 0.5 into 0.5
2.782 * [taylor]: Taking taylor expansion of phi2 in phi2
2.782 * [backup-simplify]: Simplify 0 into 0
2.782 * [backup-simplify]: Simplify 1 into 1
2.782 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.783 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.784 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
2.784 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
2.785 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
2.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.789 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
2.789 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
2.789 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
2.790 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2))))
2.791 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.791 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0
2.791 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.791 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.791 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.791 * [backup-simplify]: Simplify 0.5 into 0.5
2.791 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.791 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.791 * [taylor]: Taking taylor expansion of phi1 in phi2
2.791 * [backup-simplify]: Simplify phi1 into phi1
2.791 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.791 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.791 * [taylor]: Taking taylor expansion of phi2 in phi2
2.791 * [backup-simplify]: Simplify 0 into 0
2.791 * [backup-simplify]: Simplify 1 into 1
2.792 * [backup-simplify]: Simplify (/ 1 1) into 1
2.792 * [backup-simplify]: Simplify (+ 0 1) into 1
2.792 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.793 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.793 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.793 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.793 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.793 * [backup-simplify]: Simplify 0.5 into 0.5
2.793 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.793 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.793 * [taylor]: Taking taylor expansion of phi1 in phi1
2.793 * [backup-simplify]: Simplify 0 into 0
2.793 * [backup-simplify]: Simplify 1 into 1
2.793 * [backup-simplify]: Simplify (/ 1 1) into 1
2.793 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.793 * [taylor]: Taking taylor expansion of phi2 in phi1
2.793 * [backup-simplify]: Simplify phi2 into phi2
2.793 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.794 * [backup-simplify]: Simplify (+ 1 0) into 1
2.794 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.794 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.794 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.795 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.795 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.795 * [backup-simplify]: Simplify 0.5 into 0.5
2.795 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.795 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.795 * [taylor]: Taking taylor expansion of phi1 in phi1
2.795 * [backup-simplify]: Simplify 0 into 0
2.795 * [backup-simplify]: Simplify 1 into 1
2.795 * [backup-simplify]: Simplify (/ 1 1) into 1
2.795 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.795 * [taylor]: Taking taylor expansion of phi2 in phi1
2.795 * [backup-simplify]: Simplify phi2 into phi2
2.795 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.796 * [backup-simplify]: Simplify (+ 1 0) into 1
2.796 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.796 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.796 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.796 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.796 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.796 * [backup-simplify]: Simplify 0.5 into 0.5
2.796 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.797 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.797 * [taylor]: Taking taylor expansion of phi1 in phi2
2.797 * [backup-simplify]: Simplify phi1 into phi1
2.797 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.797 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.797 * [taylor]: Taking taylor expansion of phi2 in phi2
2.797 * [backup-simplify]: Simplify 0 into 0
2.797 * [backup-simplify]: Simplify 1 into 1
2.797 * [backup-simplify]: Simplify (/ 1 1) into 1
2.797 * [backup-simplify]: Simplify (+ 0 1) into 1
2.798 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.798 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.798 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.798 * [taylor]: Taking taylor expansion of 0 in phi2
2.798 * [backup-simplify]: Simplify 0 into 0
2.798 * [backup-simplify]: Simplify 0 into 0
2.798 * [backup-simplify]: Simplify 0 into 0
2.798 * [taylor]: Taking taylor expansion of 0 in phi2
2.799 * [backup-simplify]: Simplify 0 into 0
2.799 * [backup-simplify]: Simplify 0 into 0
2.799 * [backup-simplify]: Simplify 0 into 0
2.799 * [backup-simplify]: Simplify 0 into 0
2.799 * [taylor]: Taking taylor expansion of 0 in phi2
2.799 * [backup-simplify]: Simplify 0 into 0
2.799 * [backup-simplify]: Simplify 0 into 0
2.799 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1)))
2.799 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.799 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0
2.799 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.799 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.799 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.799 * [backup-simplify]: Simplify -0.5 into -0.5
2.799 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.799 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.799 * [taylor]: Taking taylor expansion of phi1 in phi2
2.799 * [backup-simplify]: Simplify phi1 into phi1
2.799 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.799 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.800 * [taylor]: Taking taylor expansion of phi2 in phi2
2.800 * [backup-simplify]: Simplify 0 into 0
2.800 * [backup-simplify]: Simplify 1 into 1
2.800 * [backup-simplify]: Simplify (/ 1 1) into 1
2.800 * [backup-simplify]: Simplify (+ 0 1) into 1
2.801 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.801 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.801 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.801 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.801 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.801 * [backup-simplify]: Simplify -0.5 into -0.5
2.801 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.801 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.801 * [taylor]: Taking taylor expansion of phi1 in phi1
2.801 * [backup-simplify]: Simplify 0 into 0
2.801 * [backup-simplify]: Simplify 1 into 1
2.801 * [backup-simplify]: Simplify (/ 1 1) into 1
2.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.802 * [taylor]: Taking taylor expansion of phi2 in phi1
2.802 * [backup-simplify]: Simplify phi2 into phi2
2.802 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.802 * [backup-simplify]: Simplify (+ 1 0) into 1
2.802 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.803 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.803 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.803 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.803 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.803 * [backup-simplify]: Simplify -0.5 into -0.5
2.803 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.803 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.803 * [taylor]: Taking taylor expansion of phi1 in phi1
2.803 * [backup-simplify]: Simplify 0 into 0
2.803 * [backup-simplify]: Simplify 1 into 1
2.803 * [backup-simplify]: Simplify (/ 1 1) into 1
2.803 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.804 * [taylor]: Taking taylor expansion of phi2 in phi1
2.804 * [backup-simplify]: Simplify phi2 into phi2
2.804 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.804 * [backup-simplify]: Simplify (+ 1 0) into 1
2.804 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.805 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.805 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.805 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.805 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.805 * [backup-simplify]: Simplify -0.5 into -0.5
2.805 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.805 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.805 * [taylor]: Taking taylor expansion of phi1 in phi2
2.805 * [backup-simplify]: Simplify phi1 into phi1
2.805 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.805 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.805 * [taylor]: Taking taylor expansion of phi2 in phi2
2.805 * [backup-simplify]: Simplify 0 into 0
2.805 * [backup-simplify]: Simplify 1 into 1
2.806 * [backup-simplify]: Simplify (/ 1 1) into 1
2.806 * [backup-simplify]: Simplify (+ 0 1) into 1
2.806 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.807 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.807 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.807 * [taylor]: Taking taylor expansion of 0 in phi2
2.807 * [backup-simplify]: Simplify 0 into 0
2.807 * [backup-simplify]: Simplify 0 into 0
2.808 * [backup-simplify]: Simplify 0 into 0
2.808 * [taylor]: Taking taylor expansion of 0 in phi2
2.808 * [backup-simplify]: Simplify 0 into 0
2.808 * [backup-simplify]: Simplify 0 into 0
2.808 * [backup-simplify]: Simplify 0 into 0
2.808 * [backup-simplify]: Simplify 0 into 0
2.808 * [taylor]: Taking taylor expansion of 0 in phi2
2.808 * [backup-simplify]: Simplify 0 into 0
2.808 * [backup-simplify]: Simplify 0 into 0
2.808 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1)))
2.808 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2)
2.808 * [backup-simplify]: Simplify (cos (/ (+ phi1 phi2) 2.0)) into (cos (* 0.5 (+ phi2 phi1)))
2.808 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi1 phi2) around 0
2.808 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
2.808 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
2.808 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.809 * [backup-simplify]: Simplify 0.5 into 0.5
2.809 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
2.809 * [taylor]: Taking taylor expansion of phi2 in phi2
2.809 * [backup-simplify]: Simplify 0 into 0
2.809 * [backup-simplify]: Simplify 1 into 1
2.809 * [taylor]: Taking taylor expansion of phi1 in phi2
2.809 * [backup-simplify]: Simplify phi1 into phi1
2.809 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
2.809 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
2.809 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
2.809 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
2.809 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.809 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.809 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.809 * [backup-simplify]: Simplify 0.5 into 0.5
2.809 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.809 * [taylor]: Taking taylor expansion of phi2 in phi1
2.809 * [backup-simplify]: Simplify phi2 into phi2
2.809 * [taylor]: Taking taylor expansion of phi1 in phi1
2.809 * [backup-simplify]: Simplify 0 into 0
2.809 * [backup-simplify]: Simplify 1 into 1
2.809 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.809 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.810 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.810 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.810 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.810 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.810 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.810 * [backup-simplify]: Simplify 0.5 into 0.5
2.810 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.810 * [taylor]: Taking taylor expansion of phi2 in phi1
2.810 * [backup-simplify]: Simplify phi2 into phi2
2.810 * [taylor]: Taking taylor expansion of phi1 in phi1
2.810 * [backup-simplify]: Simplify 0 into 0
2.810 * [backup-simplify]: Simplify 1 into 1
2.810 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.810 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.810 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.810 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.810 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.811 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.811 * [backup-simplify]: Simplify (- 0) into 0
2.811 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.811 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.811 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.811 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.811 * [backup-simplify]: Simplify 0.5 into 0.5
2.811 * [taylor]: Taking taylor expansion of phi2 in phi2
2.811 * [backup-simplify]: Simplify 0 into 0
2.811 * [backup-simplify]: Simplify 1 into 1
2.812 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.813 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.814 * [backup-simplify]: Simplify 1 into 1
2.814 * [backup-simplify]: Simplify (+ 0) into 0
2.815 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
2.815 * [backup-simplify]: Simplify (+ 0 1) into 1
2.816 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
2.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.819 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
2.819 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.819 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
2.819 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi2)))) in phi2
2.819 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi2))) in phi2
2.819 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.819 * [backup-simplify]: Simplify 0.5 into 0.5
2.819 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
2.819 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.819 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.819 * [backup-simplify]: Simplify 0.5 into 0.5
2.819 * [taylor]: Taking taylor expansion of phi2 in phi2
2.819 * [backup-simplify]: Simplify 0 into 0
2.819 * [backup-simplify]: Simplify 1 into 1
2.820 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.821 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.822 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.822 * [backup-simplify]: Simplify (- 0) into 0
2.822 * [backup-simplify]: Simplify 0 into 0
2.823 * [backup-simplify]: Simplify (+ 0) into 0
2.823 * [backup-simplify]: Simplify 0 into 0
2.825 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
2.827 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi2))))
2.827 * [backup-simplify]: Simplify (+ 0 0) into 0
2.828 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi2))) into 0
2.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.829 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0.5) (* 0 0))) into 0
2.830 * [backup-simplify]: Simplify (- 0) into 0
2.830 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi2)))) 0) into (- (* 0.125 (cos (* 0.5 phi2))))
2.830 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi2)))) in phi2
2.830 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi2))) in phi2
2.830 * [taylor]: Taking taylor expansion of 0.125 in phi2
2.830 * [backup-simplify]: Simplify 0.125 into 0.125
2.830 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.830 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.830 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.830 * [backup-simplify]: Simplify 0.5 into 0.5
2.830 * [taylor]: Taking taylor expansion of phi2 in phi2
2.830 * [backup-simplify]: Simplify 0 into 0
2.830 * [backup-simplify]: Simplify 1 into 1
2.831 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.840 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.840 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
2.841 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
2.841 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
2.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
2.845 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
2.845 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
2.846 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
2.847 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi2 phi1)) (+ (* (- 0.125) (pow (* 1 phi1) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2))))
2.847 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.847 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0
2.847 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.847 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.847 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.847 * [backup-simplify]: Simplify 0.5 into 0.5
2.847 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.848 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.848 * [taylor]: Taking taylor expansion of phi1 in phi2
2.848 * [backup-simplify]: Simplify phi1 into phi1
2.848 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.848 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.848 * [taylor]: Taking taylor expansion of phi2 in phi2
2.848 * [backup-simplify]: Simplify 0 into 0
2.848 * [backup-simplify]: Simplify 1 into 1
2.848 * [backup-simplify]: Simplify (/ 1 1) into 1
2.849 * [backup-simplify]: Simplify (+ 0 1) into 1
2.849 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.849 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.849 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.849 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.849 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.849 * [backup-simplify]: Simplify 0.5 into 0.5
2.849 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.849 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.849 * [taylor]: Taking taylor expansion of phi1 in phi1
2.850 * [backup-simplify]: Simplify 0 into 0
2.850 * [backup-simplify]: Simplify 1 into 1
2.850 * [backup-simplify]: Simplify (/ 1 1) into 1
2.850 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.850 * [taylor]: Taking taylor expansion of phi2 in phi1
2.850 * [backup-simplify]: Simplify phi2 into phi2
2.850 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.851 * [backup-simplify]: Simplify (+ 1 0) into 1
2.851 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.851 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.851 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.851 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.851 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.851 * [backup-simplify]: Simplify 0.5 into 0.5
2.851 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.851 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.851 * [taylor]: Taking taylor expansion of phi1 in phi1
2.851 * [backup-simplify]: Simplify 0 into 0
2.851 * [backup-simplify]: Simplify 1 into 1
2.852 * [backup-simplify]: Simplify (/ 1 1) into 1
2.852 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.852 * [taylor]: Taking taylor expansion of phi2 in phi1
2.852 * [backup-simplify]: Simplify phi2 into phi2
2.852 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.852 * [backup-simplify]: Simplify (+ 1 0) into 1
2.853 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.853 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.853 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.853 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.853 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.853 * [backup-simplify]: Simplify 0.5 into 0.5
2.853 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.853 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.853 * [taylor]: Taking taylor expansion of phi1 in phi2
2.853 * [backup-simplify]: Simplify phi1 into phi1
2.853 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.853 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.853 * [taylor]: Taking taylor expansion of phi2 in phi2
2.854 * [backup-simplify]: Simplify 0 into 0
2.854 * [backup-simplify]: Simplify 1 into 1
2.854 * [backup-simplify]: Simplify (/ 1 1) into 1
2.854 * [backup-simplify]: Simplify (+ 0 1) into 1
2.855 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.855 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.855 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.855 * [taylor]: Taking taylor expansion of 0 in phi2
2.855 * [backup-simplify]: Simplify 0 into 0
2.855 * [backup-simplify]: Simplify 0 into 0
2.855 * [backup-simplify]: Simplify 0 into 0
2.855 * [taylor]: Taking taylor expansion of 0 in phi2
2.855 * [backup-simplify]: Simplify 0 into 0
2.855 * [backup-simplify]: Simplify 0 into 0
2.855 * [backup-simplify]: Simplify 0 into 0
2.856 * [backup-simplify]: Simplify 0 into 0
2.856 * [taylor]: Taking taylor expansion of 0 in phi2
2.856 * [backup-simplify]: Simplify 0 into 0
2.856 * [backup-simplify]: Simplify 0 into 0
2.856 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1)))
2.856 * [backup-simplify]: Simplify (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.856 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi1 phi2) around 0
2.856 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.856 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.856 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.856 * [backup-simplify]: Simplify -0.5 into -0.5
2.856 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.856 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.856 * [taylor]: Taking taylor expansion of phi1 in phi2
2.856 * [backup-simplify]: Simplify phi1 into phi1
2.856 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.856 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.857 * [taylor]: Taking taylor expansion of phi2 in phi2
2.857 * [backup-simplify]: Simplify 0 into 0
2.857 * [backup-simplify]: Simplify 1 into 1
2.857 * [backup-simplify]: Simplify (/ 1 1) into 1
2.857 * [backup-simplify]: Simplify (+ 0 1) into 1
2.858 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.858 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.858 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.858 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.858 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.858 * [backup-simplify]: Simplify -0.5 into -0.5
2.858 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.858 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.858 * [taylor]: Taking taylor expansion of phi1 in phi1
2.858 * [backup-simplify]: Simplify 0 into 0
2.858 * [backup-simplify]: Simplify 1 into 1
2.859 * [backup-simplify]: Simplify (/ 1 1) into 1
2.859 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.859 * [taylor]: Taking taylor expansion of phi2 in phi1
2.859 * [backup-simplify]: Simplify phi2 into phi2
2.859 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.859 * [backup-simplify]: Simplify (+ 1 0) into 1
2.860 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.860 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.860 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.860 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.860 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.860 * [backup-simplify]: Simplify -0.5 into -0.5
2.860 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.860 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.860 * [taylor]: Taking taylor expansion of phi1 in phi1
2.860 * [backup-simplify]: Simplify 0 into 0
2.860 * [backup-simplify]: Simplify 1 into 1
2.860 * [backup-simplify]: Simplify (/ 1 1) into 1
2.861 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.861 * [taylor]: Taking taylor expansion of phi2 in phi1
2.861 * [backup-simplify]: Simplify phi2 into phi2
2.861 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.861 * [backup-simplify]: Simplify (+ 1 0) into 1
2.862 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.862 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.862 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.862 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.862 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.862 * [backup-simplify]: Simplify -0.5 into -0.5
2.862 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.862 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.862 * [taylor]: Taking taylor expansion of phi1 in phi2
2.862 * [backup-simplify]: Simplify phi1 into phi1
2.862 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.862 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.862 * [taylor]: Taking taylor expansion of phi2 in phi2
2.862 * [backup-simplify]: Simplify 0 into 0
2.862 * [backup-simplify]: Simplify 1 into 1
2.863 * [backup-simplify]: Simplify (/ 1 1) into 1
2.863 * [backup-simplify]: Simplify (+ 0 1) into 1
2.863 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.864 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.864 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.864 * [taylor]: Taking taylor expansion of 0 in phi2
2.864 * [backup-simplify]: Simplify 0 into 0
2.864 * [backup-simplify]: Simplify 0 into 0
2.864 * [backup-simplify]: Simplify 0 into 0
2.864 * [taylor]: Taking taylor expansion of 0 in phi2
2.864 * [backup-simplify]: Simplify 0 into 0
2.864 * [backup-simplify]: Simplify 0 into 0
2.864 * [backup-simplify]: Simplify 0 into 0
2.864 * [backup-simplify]: Simplify 0 into 0
2.864 * [taylor]: Taking taylor expansion of 0 in phi2
2.864 * [backup-simplify]: Simplify 0 into 0
2.864 * [backup-simplify]: Simplify 0 into 0
2.865 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1)))
2.865 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1)
2.865 * [backup-simplify]: Simplify (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) into (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2))
2.865 * [approximate]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in (lambda1 lambda2 phi1 phi2) around 0
2.865 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2
2.865 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi2
2.865 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi2
2.865 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.865 * [backup-simplify]: Simplify lambda1 into lambda1
2.865 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.865 * [backup-simplify]: Simplify lambda2 into lambda2
2.866 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
2.866 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
2.866 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
2.866 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
2.866 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
2.866 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.866 * [backup-simplify]: Simplify 0.5 into 0.5
2.866 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
2.866 * [taylor]: Taking taylor expansion of phi2 in phi2
2.866 * [backup-simplify]: Simplify 0 into 0
2.866 * [backup-simplify]: Simplify 1 into 1
2.866 * [taylor]: Taking taylor expansion of phi1 in phi2
2.866 * [backup-simplify]: Simplify phi1 into phi1
2.866 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
2.866 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
2.866 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
2.866 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
2.866 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
2.866 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
2.867 * [backup-simplify]: Simplify (- 0) into 0
2.867 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
2.867 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1
2.867 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in phi1
2.867 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in phi1
2.867 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.867 * [backup-simplify]: Simplify lambda1 into lambda1
2.868 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.868 * [backup-simplify]: Simplify lambda2 into lambda2
2.868 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
2.868 * [backup-simplify]: Simplify (+ lambda1 (- lambda2)) into (- lambda1 lambda2)
2.868 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.868 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.868 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.868 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.868 * [backup-simplify]: Simplify 0.5 into 0.5
2.868 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.868 * [taylor]: Taking taylor expansion of phi2 in phi1
2.868 * [backup-simplify]: Simplify phi2 into phi2
2.868 * [taylor]: Taking taylor expansion of phi1 in phi1
2.868 * [backup-simplify]: Simplify 0 into 0
2.868 * [backup-simplify]: Simplify 1 into 1
2.868 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.868 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.868 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.868 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.868 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.869 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.869 * [backup-simplify]: Simplify (- 0) into 0
2.869 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.869 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.869 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda2
2.869 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda2
2.869 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.869 * [backup-simplify]: Simplify lambda1 into lambda1
2.869 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.869 * [backup-simplify]: Simplify 0 into 0
2.869 * [backup-simplify]: Simplify 1 into 1
2.870 * [backup-simplify]: Simplify (- 0) into 0
2.870 * [backup-simplify]: Simplify (+ lambda1 0) into lambda1
2.870 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.870 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.870 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.870 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.870 * [backup-simplify]: Simplify 0.5 into 0.5
2.870 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.870 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.870 * [backup-simplify]: Simplify phi2 into phi2
2.870 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.870 * [backup-simplify]: Simplify phi1 into phi1
2.870 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.870 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.870 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.870 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.871 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.871 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.871 * [backup-simplify]: Simplify (- 0) into 0
2.871 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.871 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1
2.871 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1
2.871 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
2.871 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.871 * [backup-simplify]: Simplify 0 into 0
2.871 * [backup-simplify]: Simplify 1 into 1
2.871 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.871 * [backup-simplify]: Simplify lambda2 into lambda2
2.872 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
2.872 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
2.872 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
2.872 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
2.872 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
2.872 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.872 * [backup-simplify]: Simplify 0.5 into 0.5
2.872 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
2.872 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.872 * [backup-simplify]: Simplify phi2 into phi2
2.872 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.872 * [backup-simplify]: Simplify phi1 into phi1
2.872 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.872 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.872 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.872 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.872 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.873 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.873 * [backup-simplify]: Simplify (- 0) into 0
2.873 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.873 * [taylor]: Taking taylor expansion of (* (pow (- lambda1 lambda2) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1
2.873 * [taylor]: Taking taylor expansion of (pow (- lambda1 lambda2) 2) in lambda1
2.873 * [taylor]: Taking taylor expansion of (- lambda1 lambda2) in lambda1
2.873 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.873 * [backup-simplify]: Simplify 0 into 0
2.873 * [backup-simplify]: Simplify 1 into 1
2.873 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.873 * [backup-simplify]: Simplify lambda2 into lambda2
2.873 * [backup-simplify]: Simplify (- lambda2) into (- lambda2)
2.873 * [backup-simplify]: Simplify (+ 0 (- lambda2)) into (- lambda2)
2.873 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
2.873 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
2.874 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
2.874 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.874 * [backup-simplify]: Simplify 0.5 into 0.5
2.874 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
2.874 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.874 * [backup-simplify]: Simplify phi2 into phi2
2.874 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.874 * [backup-simplify]: Simplify phi1 into phi1
2.874 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.874 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.874 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.874 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.874 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.874 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.875 * [backup-simplify]: Simplify (- 0) into 0
2.875 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.875 * [backup-simplify]: Simplify (* (- lambda2) (- lambda2)) into (pow lambda2 2)
2.875 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.876 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2))
2.876 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.876 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.876 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.876 * [backup-simplify]: Simplify 0 into 0
2.876 * [backup-simplify]: Simplify 1 into 1
2.876 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.876 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.876 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.876 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.876 * [backup-simplify]: Simplify 0.5 into 0.5
2.876 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.876 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.876 * [backup-simplify]: Simplify phi2 into phi2
2.876 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.876 * [backup-simplify]: Simplify phi1 into phi1
2.876 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.876 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.876 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.877 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.877 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.877 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.877 * [backup-simplify]: Simplify (- 0) into 0
2.877 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.878 * [backup-simplify]: Simplify (+ 0) into 0
2.878 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.879 * [backup-simplify]: Simplify (+ 0 0) into 0
2.879 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.881 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.881 * [backup-simplify]: Simplify (- 0) into 0
2.881 * [backup-simplify]: Simplify (+ 0 0) into 0
2.882 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.882 * [backup-simplify]: Simplify (- 0) into 0
2.882 * [backup-simplify]: Simplify (+ 1 0) into 1
2.883 * [backup-simplify]: Simplify (+ (* (- lambda2) 1) (* 1 (- lambda2))) into (- (* 2 lambda2))
2.883 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* (- (* 2 lambda2)) (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
2.883 * [taylor]: Taking taylor expansion of (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) in lambda2
2.883 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in lambda2
2.883 * [taylor]: Taking taylor expansion of 2 in lambda2
2.883 * [backup-simplify]: Simplify 2 into 2
2.883 * [taylor]: Taking taylor expansion of (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
2.883 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.883 * [backup-simplify]: Simplify 0 into 0
2.883 * [backup-simplify]: Simplify 1 into 1
2.883 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.883 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.884 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.884 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.884 * [backup-simplify]: Simplify 0.5 into 0.5
2.884 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.884 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.884 * [backup-simplify]: Simplify phi2 into phi2
2.884 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.884 * [backup-simplify]: Simplify phi1 into phi1
2.884 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.884 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.884 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.884 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.884 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.884 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.885 * [backup-simplify]: Simplify (- 0) into 0
2.885 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.885 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.885 * [backup-simplify]: Simplify (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into 0
2.886 * [backup-simplify]: Simplify (* 2 0) into 0
2.886 * [backup-simplify]: Simplify (- 0) into 0
2.886 * [taylor]: Taking taylor expansion of 0 in phi1
2.886 * [backup-simplify]: Simplify 0 into 0
2.886 * [taylor]: Taking taylor expansion of 0 in phi2
2.886 * [backup-simplify]: Simplify 0 into 0
2.886 * [backup-simplify]: Simplify 0 into 0
2.887 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.888 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
2.889 * [backup-simplify]: Simplify (+ 0 0) into 0
2.889 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
2.890 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.891 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
2.891 * [backup-simplify]: Simplify (- 0) into 0
2.892 * [backup-simplify]: Simplify (+ 0 0) into 0
2.892 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
2.893 * [backup-simplify]: Simplify (- 0) into 0
2.893 * [backup-simplify]: Simplify (+ 0 0) into 0
2.893 * [backup-simplify]: Simplify (+ (* (- lambda2) 0) (+ (* 1 1) (* 0 (- lambda2)))) into 1
2.894 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (+ (* (- (* 2 lambda2)) 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.894 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
2.894 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
2.894 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
2.894 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.894 * [backup-simplify]: Simplify 0.5 into 0.5
2.894 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
2.894 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.894 * [backup-simplify]: Simplify phi2 into phi2
2.894 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.894 * [backup-simplify]: Simplify phi1 into phi1
2.894 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
2.894 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
2.895 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
2.895 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
2.895 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
2.895 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
2.895 * [backup-simplify]: Simplify (- 0) into 0
2.896 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
2.896 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.896 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.896 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.896 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.896 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.896 * [backup-simplify]: Simplify 0.5 into 0.5
2.896 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.896 * [taylor]: Taking taylor expansion of phi2 in phi1
2.896 * [backup-simplify]: Simplify phi2 into phi2
2.896 * [taylor]: Taking taylor expansion of phi1 in phi1
2.896 * [backup-simplify]: Simplify 0 into 0
2.896 * [backup-simplify]: Simplify 1 into 1
2.896 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.896 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.896 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.896 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.897 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.897 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.897 * [backup-simplify]: Simplify (- 0) into 0
2.897 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.897 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.897 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
2.897 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.897 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.897 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.898 * [backup-simplify]: Simplify 0.5 into 0.5
2.898 * [taylor]: Taking taylor expansion of phi2 in phi2
2.898 * [backup-simplify]: Simplify 0 into 0
2.898 * [backup-simplify]: Simplify 1 into 1
2.898 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.899 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.900 * [backup-simplify]: Simplify (* 1 1) into 1
2.900 * [backup-simplify]: Simplify 1 into 1
2.900 * [backup-simplify]: Simplify (+ 0) into 0
2.901 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
2.901 * [backup-simplify]: Simplify (+ 0 0) into 0
2.902 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
2.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.903 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
2.904 * [backup-simplify]: Simplify (- 0) into 0
2.904 * [backup-simplify]: Simplify (+ 0 0) into 0
2.904 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
2.905 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.906 * [backup-simplify]: Simplify (+ (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))
2.906 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
2.906 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) in phi1
2.906 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1
2.906 * [taylor]: Taking taylor expansion of 2 in phi1
2.906 * [backup-simplify]: Simplify 2 into 2
2.906 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.906 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.906 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.906 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.906 * [backup-simplify]: Simplify 0.5 into 0.5
2.906 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.906 * [taylor]: Taking taylor expansion of phi2 in phi1
2.906 * [backup-simplify]: Simplify phi2 into phi2
2.906 * [taylor]: Taking taylor expansion of phi1 in phi1
2.906 * [backup-simplify]: Simplify 0 into 0
2.906 * [backup-simplify]: Simplify 1 into 1
2.907 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.907 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.907 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.907 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.907 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.907 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.907 * [backup-simplify]: Simplify (- 0) into 0
2.908 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.908 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.908 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 phi2)) 2)) into (* 2 (pow (cos (* 0.5 phi2)) 2))
2.908 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 phi2)) 2))) into (- (* 2 (pow (cos (* 0.5 phi2)) 2)))
2.908 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 phi2)) 2))) in phi2
2.908 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 phi2)) 2)) in phi2
2.908 * [taylor]: Taking taylor expansion of 2 in phi2
2.908 * [backup-simplify]: Simplify 2 into 2
2.908 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
2.908 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.908 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.909 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.909 * [backup-simplify]: Simplify 0.5 into 0.5
2.909 * [taylor]: Taking taylor expansion of phi2 in phi2
2.909 * [backup-simplify]: Simplify 0 into 0
2.909 * [backup-simplify]: Simplify 1 into 1
2.909 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.911 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.911 * [backup-simplify]: Simplify (* 1 1) into 1
2.911 * [backup-simplify]: Simplify (* 2 1) into 2
2.912 * [backup-simplify]: Simplify (- 2) into -2
2.912 * [backup-simplify]: Simplify -2 into -2
2.912 * [backup-simplify]: Simplify (* 1 1) into 1
2.913 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.913 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
2.913 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
2.913 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
2.913 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
2.913 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.913 * [backup-simplify]: Simplify 0.5 into 0.5
2.913 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
2.913 * [taylor]: Taking taylor expansion of phi2 in phi1
2.913 * [backup-simplify]: Simplify phi2 into phi2
2.913 * [taylor]: Taking taylor expansion of phi1 in phi1
2.913 * [backup-simplify]: Simplify 0 into 0
2.913 * [backup-simplify]: Simplify 1 into 1
2.913 * [backup-simplify]: Simplify (+ phi2 0) into phi2
2.913 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
2.913 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
2.914 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
2.914 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
2.914 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
2.914 * [backup-simplify]: Simplify (- 0) into 0
2.914 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
2.914 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
2.915 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
2.915 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
2.915 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
2.915 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.915 * [backup-simplify]: Simplify 0.5 into 0.5
2.915 * [taylor]: Taking taylor expansion of phi2 in phi2
2.915 * [backup-simplify]: Simplify 0 into 0
2.915 * [backup-simplify]: Simplify 1 into 1
2.915 * [backup-simplify]: Simplify (* 0.5 0) into 0
2.917 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
2.917 * [backup-simplify]: Simplify (* 1 1) into 1
2.917 * [backup-simplify]: Simplify 1 into 1
2.918 * [backup-simplify]: Simplify (+ (* 1 (pow (* 1 (* 1 (* lambda2 1))) 2)) (+ (* -2 (* 1 (* 1 (* lambda2 lambda1)))) (* 1 (pow (* 1 (* 1 (* 1 lambda1))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
2.919 * [backup-simplify]: Simplify (* (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0))) (* (- (/ 1 lambda1) (/ 1 lambda2)) (cos (/ (+ (/ 1 phi1) (/ 1 phi2)) 2.0)))) into (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
2.919 * [approximate]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in (lambda1 lambda2 phi1 phi2) around 0
2.919 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2
2.919 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi2
2.919 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi2
2.919 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
2.919 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.919 * [backup-simplify]: Simplify lambda1 into lambda1
2.919 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
2.919 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
2.919 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.919 * [backup-simplify]: Simplify lambda2 into lambda2
2.919 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
2.920 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
2.920 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
2.920 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.920 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.920 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.920 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.920 * [backup-simplify]: Simplify 0.5 into 0.5
2.920 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.920 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.920 * [taylor]: Taking taylor expansion of phi1 in phi2
2.920 * [backup-simplify]: Simplify phi1 into phi1
2.920 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.920 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.920 * [taylor]: Taking taylor expansion of phi2 in phi2
2.920 * [backup-simplify]: Simplify 0 into 0
2.920 * [backup-simplify]: Simplify 1 into 1
2.921 * [backup-simplify]: Simplify (/ 1 1) into 1
2.921 * [backup-simplify]: Simplify (+ 0 1) into 1
2.922 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.922 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.922 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1
2.922 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in phi1
2.922 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in phi1
2.922 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
2.922 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.922 * [backup-simplify]: Simplify lambda1 into lambda1
2.922 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
2.922 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
2.922 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.922 * [backup-simplify]: Simplify lambda2 into lambda2
2.922 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
2.922 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
2.922 * [backup-simplify]: Simplify (+ (/ 1 lambda1) (- (/ 1 lambda2))) into (- (/ 1 lambda1) (/ 1 lambda2))
2.923 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.923 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.923 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.923 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.923 * [backup-simplify]: Simplify 0.5 into 0.5
2.923 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.923 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.923 * [taylor]: Taking taylor expansion of phi1 in phi1
2.923 * [backup-simplify]: Simplify 0 into 0
2.923 * [backup-simplify]: Simplify 1 into 1
2.923 * [backup-simplify]: Simplify (/ 1 1) into 1
2.923 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.923 * [taylor]: Taking taylor expansion of phi2 in phi1
2.923 * [backup-simplify]: Simplify phi2 into phi2
2.923 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.924 * [backup-simplify]: Simplify (+ 1 0) into 1
2.924 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.924 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.925 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2
2.925 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda2
2.925 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda2
2.925 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
2.925 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.925 * [backup-simplify]: Simplify lambda1 into lambda1
2.925 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
2.925 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
2.925 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.925 * [backup-simplify]: Simplify 0 into 0
2.925 * [backup-simplify]: Simplify 1 into 1
2.925 * [backup-simplify]: Simplify (/ 1 1) into 1
2.926 * [backup-simplify]: Simplify (- 1) into -1
2.926 * [backup-simplify]: Simplify (+ 0 -1) into -1
2.926 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.926 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.926 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.926 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.926 * [backup-simplify]: Simplify 0.5 into 0.5
2.926 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.926 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.926 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.926 * [backup-simplify]: Simplify phi1 into phi1
2.926 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.926 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.927 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.927 * [backup-simplify]: Simplify phi2 into phi2
2.927 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.927 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.927 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.927 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.927 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.928 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.928 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.929 * [backup-simplify]: Simplify (- 0) into 0
2.929 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.929 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1
2.929 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1
2.929 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
2.929 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
2.929 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.929 * [backup-simplify]: Simplify 0 into 0
2.929 * [backup-simplify]: Simplify 1 into 1
2.929 * [backup-simplify]: Simplify (/ 1 1) into 1
2.930 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
2.930 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.930 * [backup-simplify]: Simplify lambda2 into lambda2
2.930 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
2.930 * [backup-simplify]: Simplify (+ 1 0) into 1
2.930 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.930 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.930 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.930 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.930 * [backup-simplify]: Simplify 0.5 into 0.5
2.930 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.930 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.930 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.930 * [backup-simplify]: Simplify phi1 into phi1
2.930 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.930 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.930 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.931 * [backup-simplify]: Simplify phi2 into phi2
2.931 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.931 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.931 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.931 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.931 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.931 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.932 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.932 * [backup-simplify]: Simplify (- 0) into 0
2.932 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.932 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1
2.932 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda1) (/ 1 lambda2)) 2) in lambda1
2.932 * [taylor]: Taking taylor expansion of (- (/ 1 lambda1) (/ 1 lambda2)) in lambda1
2.932 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
2.932 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.932 * [backup-simplify]: Simplify 0 into 0
2.932 * [backup-simplify]: Simplify 1 into 1
2.933 * [backup-simplify]: Simplify (/ 1 1) into 1
2.933 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
2.933 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.933 * [backup-simplify]: Simplify lambda2 into lambda2
2.933 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
2.933 * [backup-simplify]: Simplify (+ 1 0) into 1
2.933 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.933 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.933 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.934 * [taylor]: Taking taylor expansion of 0.5 in lambda1
2.934 * [backup-simplify]: Simplify 0.5 into 0.5
2.934 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.934 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.934 * [backup-simplify]: Simplify phi1 into phi1
2.934 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.934 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.934 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.934 * [backup-simplify]: Simplify phi2 into phi2
2.934 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.934 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.934 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.934 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.934 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.935 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.935 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.935 * [backup-simplify]: Simplify (- 0) into 0
2.935 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.936 * [backup-simplify]: Simplify (* 1 1) into 1
2.936 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.937 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.937 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.937 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.937 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.937 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.937 * [backup-simplify]: Simplify 0.5 into 0.5
2.937 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.937 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.937 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.937 * [backup-simplify]: Simplify phi1 into phi1
2.937 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.937 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.937 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.937 * [backup-simplify]: Simplify phi2 into phi2
2.937 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.937 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.938 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.938 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.938 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.938 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.938 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.939 * [backup-simplify]: Simplify (- 0) into 0
2.939 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.939 * [backup-simplify]: Simplify (+ 0) into 0
2.940 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.940 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.940 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.941 * [backup-simplify]: Simplify (+ 0 0) into 0
2.941 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.943 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.943 * [backup-simplify]: Simplify (- 0) into 0
2.943 * [backup-simplify]: Simplify (+ 0 0) into 0
2.944 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.945 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.945 * [backup-simplify]: Simplify (- (/ 1 lambda2)) into (- (/ 1 lambda2))
2.945 * [backup-simplify]: Simplify (+ 0 (- (/ 1 lambda2))) into (- (/ 1 lambda2))
2.945 * [backup-simplify]: Simplify (+ (* 1 (- (/ 1 lambda2))) (* (- (/ 1 lambda2)) 1)) into (- (* 2 (/ 1 lambda2)))
2.946 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 lambda2))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
2.946 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2
2.946 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2
2.946 * [taylor]: Taking taylor expansion of 2 in lambda2
2.946 * [backup-simplify]: Simplify 2 into 2
2.946 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2
2.946 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.946 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.946 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.946 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.946 * [backup-simplify]: Simplify 0.5 into 0.5
2.946 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.946 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.946 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.946 * [backup-simplify]: Simplify phi1 into phi1
2.947 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.947 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.947 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.947 * [backup-simplify]: Simplify phi2 into phi2
2.947 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.947 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.947 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.947 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.947 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.948 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.948 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.948 * [backup-simplify]: Simplify (- 0) into 0
2.948 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.948 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.948 * [backup-simplify]: Simplify 0 into 0
2.949 * [backup-simplify]: Simplify 1 into 1
2.949 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.949 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.950 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
2.951 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
2.951 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
2.952 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
2.952 * [backup-simplify]: Simplify (+ 0 0) into 0
2.953 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
2.954 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
2.954 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
2.955 * [backup-simplify]: Simplify (- 0) into 0
2.955 * [backup-simplify]: Simplify (+ 0 0) into 0
2.956 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
2.957 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
2.957 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
2.957 * [backup-simplify]: Simplify (- 0) into 0
2.958 * [backup-simplify]: Simplify (+ 0 0) into 0
2.959 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (/ 1 lambda2)) (- (/ 1 lambda2))) (* 0 1))) into (/ 1 (pow lambda2 2))
2.960 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 lambda2))) 0) (* (/ 1 (pow lambda2 2)) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
2.960 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2
2.960 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.960 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.960 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.960 * [taylor]: Taking taylor expansion of 0.5 in lambda2
2.960 * [backup-simplify]: Simplify 0.5 into 0.5
2.960 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.960 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.960 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.960 * [backup-simplify]: Simplify phi1 into phi1
2.960 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.960 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.960 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.960 * [backup-simplify]: Simplify phi2 into phi2
2.961 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.961 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.961 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.961 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.961 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.961 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.962 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.962 * [backup-simplify]: Simplify (- 0) into 0
2.962 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.962 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
2.962 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.962 * [backup-simplify]: Simplify 0 into 0
2.962 * [backup-simplify]: Simplify 1 into 1
2.963 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.963 * [backup-simplify]: Simplify (* 1 1) into 1
2.963 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.964 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.964 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.964 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.964 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.964 * [backup-simplify]: Simplify 0.5 into 0.5
2.964 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.964 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.964 * [taylor]: Taking taylor expansion of phi1 in phi1
2.964 * [backup-simplify]: Simplify 0 into 0
2.964 * [backup-simplify]: Simplify 1 into 1
2.964 * [backup-simplify]: Simplify (/ 1 1) into 1
2.964 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.964 * [taylor]: Taking taylor expansion of phi2 in phi1
2.964 * [backup-simplify]: Simplify phi2 into phi2
2.964 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.965 * [backup-simplify]: Simplify (+ 1 0) into 1
2.965 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.965 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.966 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.966 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.966 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.966 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.966 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.966 * [backup-simplify]: Simplify 0.5 into 0.5
2.966 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.966 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.966 * [taylor]: Taking taylor expansion of phi1 in phi2
2.966 * [backup-simplify]: Simplify phi1 into phi1
2.966 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.966 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.966 * [taylor]: Taking taylor expansion of phi2 in phi2
2.966 * [backup-simplify]: Simplify 0 into 0
2.966 * [backup-simplify]: Simplify 1 into 1
2.967 * [backup-simplify]: Simplify (/ 1 1) into 1
2.967 * [backup-simplify]: Simplify (+ 0 1) into 1
2.967 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.968 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.968 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.968 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.969 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
2.969 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
2.969 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1
2.969 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1
2.969 * [taylor]: Taking taylor expansion of 2 in phi1
2.969 * [backup-simplify]: Simplify 2 into 2
2.969 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.969 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.969 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.970 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.970 * [backup-simplify]: Simplify 0.5 into 0.5
2.970 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.970 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.970 * [taylor]: Taking taylor expansion of phi1 in phi1
2.970 * [backup-simplify]: Simplify 0 into 0
2.970 * [backup-simplify]: Simplify 1 into 1
2.970 * [backup-simplify]: Simplify (/ 1 1) into 1
2.970 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.970 * [taylor]: Taking taylor expansion of phi2 in phi1
2.970 * [backup-simplify]: Simplify phi2 into phi2
2.970 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.971 * [backup-simplify]: Simplify (+ 1 0) into 1
2.971 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.971 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.972 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.972 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
2.973 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
2.973 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2
2.973 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2
2.973 * [taylor]: Taking taylor expansion of 2 in phi2
2.973 * [backup-simplify]: Simplify 2 into 2
2.973 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.973 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.973 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.973 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.973 * [backup-simplify]: Simplify 0.5 into 0.5
2.973 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.973 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.973 * [taylor]: Taking taylor expansion of phi1 in phi2
2.973 * [backup-simplify]: Simplify phi1 into phi1
2.973 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.973 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.973 * [taylor]: Taking taylor expansion of phi2 in phi2
2.973 * [backup-simplify]: Simplify 0 into 0
2.973 * [backup-simplify]: Simplify 1 into 1
2.973 * [backup-simplify]: Simplify (/ 1 1) into 1
2.973 * [backup-simplify]: Simplify (+ 0 1) into 1
2.974 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.974 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.974 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.974 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
2.974 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
2.975 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
2.975 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.975 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.975 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.975 * [taylor]: Taking taylor expansion of 0.5 in phi1
2.975 * [backup-simplify]: Simplify 0.5 into 0.5
2.975 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.975 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.975 * [taylor]: Taking taylor expansion of phi1 in phi1
2.975 * [backup-simplify]: Simplify 0 into 0
2.975 * [backup-simplify]: Simplify 1 into 1
2.975 * [backup-simplify]: Simplify (/ 1 1) into 1
2.975 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.975 * [taylor]: Taking taylor expansion of phi2 in phi1
2.975 * [backup-simplify]: Simplify phi2 into phi2
2.975 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.976 * [backup-simplify]: Simplify (+ 1 0) into 1
2.976 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.976 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.976 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.976 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.976 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.976 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.976 * [taylor]: Taking taylor expansion of 0.5 in phi2
2.976 * [backup-simplify]: Simplify 0.5 into 0.5
2.976 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.976 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.976 * [taylor]: Taking taylor expansion of phi1 in phi2
2.977 * [backup-simplify]: Simplify phi1 into phi1
2.977 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.977 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.977 * [taylor]: Taking taylor expansion of phi2 in phi2
2.977 * [backup-simplify]: Simplify 0 into 0
2.977 * [backup-simplify]: Simplify 1 into 1
2.977 * [backup-simplify]: Simplify (/ 1 1) into 1
2.977 * [backup-simplify]: Simplify (+ 0 1) into 1
2.977 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
2.978 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.978 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.978 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.979 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda1))))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) (/ 1 (/ 1 lambda1)))))) (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* 1 (* 1 (* (/ 1 (/ 1 lambda2)) 1))) 2)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
2.980 * [backup-simplify]: Simplify (* (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0))) (* (- (/ 1 (- lambda1)) (/ 1 (- lambda2))) (cos (/ (+ (/ 1 (- phi1)) (/ 1 (- phi2))) 2.0)))) into (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
2.980 * [approximate]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in (lambda1 lambda2 phi1 phi2) around 0
2.980 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2
2.980 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi2
2.980 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi2
2.980 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi2
2.980 * [taylor]: Taking taylor expansion of lambda2 in phi2
2.980 * [backup-simplify]: Simplify lambda2 into lambda2
2.980 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
2.980 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi2
2.980 * [taylor]: Taking taylor expansion of lambda1 in phi2
2.980 * [backup-simplify]: Simplify lambda1 into lambda1
2.980 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
2.980 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
2.980 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
2.980 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
2.980 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
2.980 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
2.980 * [taylor]: Taking taylor expansion of -0.5 in phi2
2.980 * [backup-simplify]: Simplify -0.5 into -0.5
2.980 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
2.980 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
2.980 * [taylor]: Taking taylor expansion of phi1 in phi2
2.980 * [backup-simplify]: Simplify phi1 into phi1
2.980 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.980 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
2.980 * [taylor]: Taking taylor expansion of phi2 in phi2
2.980 * [backup-simplify]: Simplify 0 into 0
2.980 * [backup-simplify]: Simplify 1 into 1
2.981 * [backup-simplify]: Simplify (/ 1 1) into 1
2.981 * [backup-simplify]: Simplify (+ 0 1) into 1
2.981 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.982 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.982 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1
2.982 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in phi1
2.982 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in phi1
2.982 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in phi1
2.982 * [taylor]: Taking taylor expansion of lambda2 in phi1
2.982 * [backup-simplify]: Simplify lambda2 into lambda2
2.982 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
2.982 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in phi1
2.982 * [taylor]: Taking taylor expansion of lambda1 in phi1
2.982 * [backup-simplify]: Simplify lambda1 into lambda1
2.982 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
2.982 * [backup-simplify]: Simplify (- (/ 1 lambda1)) into (- (/ 1 lambda1))
2.982 * [backup-simplify]: Simplify (+ (/ 1 lambda2) (- (/ 1 lambda1))) into (- (/ 1 lambda2) (/ 1 lambda1))
2.982 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
2.982 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
2.982 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
2.982 * [taylor]: Taking taylor expansion of -0.5 in phi1
2.982 * [backup-simplify]: Simplify -0.5 into -0.5
2.982 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
2.982 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
2.982 * [taylor]: Taking taylor expansion of phi1 in phi1
2.982 * [backup-simplify]: Simplify 0 into 0
2.982 * [backup-simplify]: Simplify 1 into 1
2.982 * [backup-simplify]: Simplify (/ 1 1) into 1
2.982 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
2.982 * [taylor]: Taking taylor expansion of phi2 in phi1
2.982 * [backup-simplify]: Simplify phi2 into phi2
2.982 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.983 * [backup-simplify]: Simplify (+ 1 0) into 1
2.983 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
2.983 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.983 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda2
2.983 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda2
2.983 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda2
2.983 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda2
2.983 * [taylor]: Taking taylor expansion of lambda2 in lambda2
2.983 * [backup-simplify]: Simplify 0 into 0
2.983 * [backup-simplify]: Simplify 1 into 1
2.983 * [backup-simplify]: Simplify (/ 1 1) into 1
2.983 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda2
2.983 * [taylor]: Taking taylor expansion of lambda1 in lambda2
2.984 * [backup-simplify]: Simplify lambda1 into lambda1
2.984 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
2.984 * [backup-simplify]: Simplify (+ 1 0) into 1
2.984 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.984 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.984 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.984 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.984 * [backup-simplify]: Simplify -0.5 into -0.5
2.984 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.984 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.984 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.984 * [backup-simplify]: Simplify phi1 into phi1
2.984 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.984 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.984 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.984 * [backup-simplify]: Simplify phi2 into phi2
2.984 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.984 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.984 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.984 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.985 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.985 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.985 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.985 * [backup-simplify]: Simplify (- 0) into 0
2.985 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.985 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1
2.985 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1
2.985 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
2.985 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
2.985 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.985 * [backup-simplify]: Simplify lambda2 into lambda2
2.985 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
2.985 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
2.985 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.985 * [backup-simplify]: Simplify 0 into 0
2.985 * [backup-simplify]: Simplify 1 into 1
2.986 * [backup-simplify]: Simplify (/ 1 1) into 1
2.986 * [backup-simplify]: Simplify (- 1) into -1
2.986 * [backup-simplify]: Simplify (+ 0 -1) into -1
2.986 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.986 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.986 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.986 * [taylor]: Taking taylor expansion of -0.5 in lambda1
2.986 * [backup-simplify]: Simplify -0.5 into -0.5
2.986 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.986 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.986 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.986 * [backup-simplify]: Simplify phi1 into phi1
2.986 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.986 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.986 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.986 * [backup-simplify]: Simplify phi2 into phi2
2.986 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.986 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.987 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.987 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.987 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.987 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.987 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.987 * [backup-simplify]: Simplify (- 0) into 0
2.987 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.987 * [taylor]: Taking taylor expansion of (* (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in lambda1
2.987 * [taylor]: Taking taylor expansion of (pow (- (/ 1 lambda2) (/ 1 lambda1)) 2) in lambda1
2.987 * [taylor]: Taking taylor expansion of (- (/ 1 lambda2) (/ 1 lambda1)) in lambda1
2.987 * [taylor]: Taking taylor expansion of (/ 1 lambda2) in lambda1
2.987 * [taylor]: Taking taylor expansion of lambda2 in lambda1
2.987 * [backup-simplify]: Simplify lambda2 into lambda2
2.988 * [backup-simplify]: Simplify (/ 1 lambda2) into (/ 1 lambda2)
2.988 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
2.988 * [taylor]: Taking taylor expansion of lambda1 in lambda1
2.988 * [backup-simplify]: Simplify 0 into 0
2.988 * [backup-simplify]: Simplify 1 into 1
2.988 * [backup-simplify]: Simplify (/ 1 1) into 1
2.988 * [backup-simplify]: Simplify (- 1) into -1
2.988 * [backup-simplify]: Simplify (+ 0 -1) into -1
2.988 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
2.988 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
2.988 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
2.988 * [taylor]: Taking taylor expansion of -0.5 in lambda1
2.988 * [backup-simplify]: Simplify -0.5 into -0.5
2.988 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
2.988 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
2.988 * [taylor]: Taking taylor expansion of phi1 in lambda1
2.988 * [backup-simplify]: Simplify phi1 into phi1
2.989 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.989 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
2.989 * [taylor]: Taking taylor expansion of phi2 in lambda1
2.989 * [backup-simplify]: Simplify phi2 into phi2
2.989 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.989 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.989 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.989 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.989 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.989 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.989 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.989 * [backup-simplify]: Simplify (- 0) into 0
2.990 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.990 * [backup-simplify]: Simplify (* -1 -1) into 1
2.990 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.990 * [backup-simplify]: Simplify (* 1 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
2.990 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
2.990 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
2.990 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
2.990 * [taylor]: Taking taylor expansion of -0.5 in lambda2
2.990 * [backup-simplify]: Simplify -0.5 into -0.5
2.990 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
2.990 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
2.990 * [taylor]: Taking taylor expansion of phi1 in lambda2
2.991 * [backup-simplify]: Simplify phi1 into phi1
2.991 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
2.991 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
2.991 * [taylor]: Taking taylor expansion of phi2 in lambda2
2.991 * [backup-simplify]: Simplify phi2 into phi2
2.991 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
2.991 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
2.991 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
2.991 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.991 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.991 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.991 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
2.991 * [backup-simplify]: Simplify (- 0) into 0
2.992 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
2.992 * [backup-simplify]: Simplify (+ 0) into 0
2.992 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
2.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
2.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
2.993 * [backup-simplify]: Simplify (+ 0 0) into 0
2.993 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
2.994 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
2.998 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
2.998 * [backup-simplify]: Simplify (- 0) into 0
2.998 * [backup-simplify]: Simplify (+ 0 0) into 0
2.999 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
2.999 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
2.999 * [backup-simplify]: Simplify (- 0) into 0
2.999 * [backup-simplify]: Simplify (+ (/ 1 lambda2) 0) into (/ 1 lambda2)
3.000 * [backup-simplify]: Simplify (+ (* -1 (/ 1 lambda2)) (* (/ 1 lambda2) -1)) into (- (* 2 (/ 1 lambda2)))
3.000 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 lambda2))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
3.000 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) in lambda2
3.000 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) in lambda2
3.000 * [taylor]: Taking taylor expansion of 2 in lambda2
3.000 * [backup-simplify]: Simplify 2 into 2
3.000 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) in lambda2
3.000 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
3.000 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.000 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.000 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.000 * [backup-simplify]: Simplify -0.5 into -0.5
3.000 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.001 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.001 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.001 * [backup-simplify]: Simplify phi1 into phi1
3.001 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.001 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.001 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.001 * [backup-simplify]: Simplify phi2 into phi2
3.001 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.001 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.001 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.001 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.001 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.001 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.001 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.002 * [backup-simplify]: Simplify (- 0) into 0
3.002 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.002 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.002 * [backup-simplify]: Simplify 0 into 0
3.002 * [backup-simplify]: Simplify 1 into 1
3.002 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.002 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.003 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
3.003 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
3.003 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
3.004 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
3.004 * [backup-simplify]: Simplify (+ 0 0) into 0
3.004 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
3.005 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
3.006 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
3.006 * [backup-simplify]: Simplify (- 0) into 0
3.006 * [backup-simplify]: Simplify (+ 0 0) into 0
3.007 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
3.007 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda2) (/ 0 lambda2)))) into 0
3.008 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
3.009 * [backup-simplify]: Simplify (- 0) into 0
3.009 * [backup-simplify]: Simplify (+ 0 0) into 0
3.010 * [backup-simplify]: Simplify (+ (* -1 0) (+ (* (/ 1 lambda2) (/ 1 lambda2)) (* 0 -1))) into (/ 1 (pow lambda2 2))
3.011 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 lambda2))) 0) (* (/ 1 (pow lambda2 2)) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
3.011 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2
3.011 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
3.012 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
3.012 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
3.012 * [taylor]: Taking taylor expansion of -0.5 in lambda2
3.012 * [backup-simplify]: Simplify -0.5 into -0.5
3.012 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
3.012 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
3.012 * [taylor]: Taking taylor expansion of phi1 in lambda2
3.012 * [backup-simplify]: Simplify phi1 into phi1
3.012 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.012 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
3.012 * [taylor]: Taking taylor expansion of phi2 in lambda2
3.012 * [backup-simplify]: Simplify phi2 into phi2
3.012 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.012 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
3.012 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
3.012 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.013 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.013 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.013 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
3.014 * [backup-simplify]: Simplify (- 0) into 0
3.014 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.014 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
3.014 * [taylor]: Taking taylor expansion of lambda2 in lambda2
3.014 * [backup-simplify]: Simplify 0 into 0
3.014 * [backup-simplify]: Simplify 1 into 1
3.014 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.015 * [backup-simplify]: Simplify (* 1 1) into 1
3.015 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.015 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
3.015 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.015 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.015 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.015 * [backup-simplify]: Simplify -0.5 into -0.5
3.015 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.015 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.015 * [taylor]: Taking taylor expansion of phi1 in phi1
3.015 * [backup-simplify]: Simplify 0 into 0
3.015 * [backup-simplify]: Simplify 1 into 1
3.016 * [backup-simplify]: Simplify (/ 1 1) into 1
3.016 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.016 * [taylor]: Taking taylor expansion of phi2 in phi1
3.016 * [backup-simplify]: Simplify phi2 into phi2
3.016 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.017 * [backup-simplify]: Simplify (+ 1 0) into 1
3.017 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.017 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.018 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.018 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
3.018 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.018 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.018 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.018 * [backup-simplify]: Simplify -0.5 into -0.5
3.018 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.018 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.018 * [taylor]: Taking taylor expansion of phi1 in phi2
3.018 * [backup-simplify]: Simplify phi1 into phi1
3.018 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.018 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.018 * [taylor]: Taking taylor expansion of phi2 in phi2
3.018 * [backup-simplify]: Simplify 0 into 0
3.018 * [backup-simplify]: Simplify 1 into 1
3.019 * [backup-simplify]: Simplify (/ 1 1) into 1
3.019 * [backup-simplify]: Simplify (+ 0 1) into 1
3.019 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.020 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.020 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.020 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.021 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
3.021 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
3.021 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi1
3.021 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi1
3.021 * [taylor]: Taking taylor expansion of 2 in phi1
3.021 * [backup-simplify]: Simplify 2 into 2
3.021 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
3.022 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.022 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.022 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.022 * [backup-simplify]: Simplify -0.5 into -0.5
3.022 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.022 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.022 * [taylor]: Taking taylor expansion of phi1 in phi1
3.022 * [backup-simplify]: Simplify 0 into 0
3.022 * [backup-simplify]: Simplify 1 into 1
3.022 * [backup-simplify]: Simplify (/ 1 1) into 1
3.022 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.022 * [taylor]: Taking taylor expansion of phi2 in phi1
3.022 * [backup-simplify]: Simplify phi2 into phi2
3.022 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.023 * [backup-simplify]: Simplify (+ 1 0) into 1
3.023 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.023 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.024 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.024 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
3.025 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
3.025 * [taylor]: Taking taylor expansion of (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2
3.025 * [taylor]: Taking taylor expansion of (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2
3.025 * [taylor]: Taking taylor expansion of 2 in phi2
3.025 * [backup-simplify]: Simplify 2 into 2
3.025 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
3.025 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.025 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.025 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.025 * [backup-simplify]: Simplify -0.5 into -0.5
3.025 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.025 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.025 * [taylor]: Taking taylor expansion of phi1 in phi2
3.025 * [backup-simplify]: Simplify phi1 into phi1
3.025 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.025 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.025 * [taylor]: Taking taylor expansion of phi2 in phi2
3.025 * [backup-simplify]: Simplify 0 into 0
3.025 * [backup-simplify]: Simplify 1 into 1
3.026 * [backup-simplify]: Simplify (/ 1 1) into 1
3.026 * [backup-simplify]: Simplify (+ 0 1) into 1
3.027 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.027 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.027 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.028 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
3.028 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
3.028 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
3.029 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.029 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
3.029 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
3.029 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
3.029 * [taylor]: Taking taylor expansion of -0.5 in phi1
3.029 * [backup-simplify]: Simplify -0.5 into -0.5
3.029 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
3.029 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
3.029 * [taylor]: Taking taylor expansion of phi1 in phi1
3.029 * [backup-simplify]: Simplify 0 into 0
3.029 * [backup-simplify]: Simplify 1 into 1
3.030 * [backup-simplify]: Simplify (/ 1 1) into 1
3.030 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
3.030 * [taylor]: Taking taylor expansion of phi2 in phi1
3.030 * [backup-simplify]: Simplify phi2 into phi2
3.030 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
3.030 * [backup-simplify]: Simplify (+ 1 0) into 1
3.031 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.031 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.032 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.032 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
3.032 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
3.032 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
3.032 * [taylor]: Taking taylor expansion of -0.5 in phi2
3.032 * [backup-simplify]: Simplify -0.5 into -0.5
3.032 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
3.032 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
3.032 * [taylor]: Taking taylor expansion of phi1 in phi2
3.032 * [backup-simplify]: Simplify phi1 into phi1
3.032 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
3.032 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
3.032 * [taylor]: Taking taylor expansion of phi2 in phi2
3.032 * [backup-simplify]: Simplify 0 into 0
3.032 * [backup-simplify]: Simplify 1 into 1
3.033 * [backup-simplify]: Simplify (/ 1 1) into 1
3.033 * [backup-simplify]: Simplify (+ 0 1) into 1
3.034 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
3.034 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
3.034 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.035 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
3.037 * [backup-simplify]: Simplify (+ (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda1)))))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) (/ 1 (/ 1 (- lambda1))))))) (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* 1 (* 1 (* (/ 1 (/ 1 (- lambda2))) 1))) 2)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
3.038 * * * [progress]: simplifying candidates
3.044 * [simplify]: Simplifying:
  (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (* (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (* (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (sqrt (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt 1)
  (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))))
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  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ lambda1 lambda2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2)))
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  (sqrt (* (+ lambda1 lambda2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2)))
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  (sqrt (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (- phi1 phi2) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ phi1 phi2)))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ phi1 phi2)))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ lambda1 lambda2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2)))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ lambda1 lambda2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2)))
  (sqrt (+ (pow (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) 3) (pow (* (- phi1 phi2) (- phi1 phi2)) 3)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (- (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2))) (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (sqrt (- (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (- (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))
  (/ 1 2)
  (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (log (cos (/ (+ phi1 phi2) 2.0)))
  (exp (cos (/ (+ phi1 phi2) 2.0)))
  (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))
  (cbrt (cos (/ (+ phi1 phi2) 2.0)))
  (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0)))
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (log (cos (/ (+ phi1 phi2) 2.0)))
  (exp (cos (/ (+ phi1 phi2) 2.0)))
  (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))
  (cbrt (cos (/ (+ phi1 phi2) 2.0)))
  (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0)))
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (+ 1 1)
  (+ 1 1)
  (+ 1 1)
  (+ 1 1)
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (+ 1 1)
  (+ 1 1)
  (+ (+ (log (- lambda1 lambda2)) (log (cos (/ (+ phi1 phi2) 2.0)))) (+ (log (- lambda1 lambda2)) (log (cos (/ (+ phi1 phi2) 2.0)))))
  (+ (+ (log (- lambda1 lambda2)) (log (cos (/ (+ phi1 phi2) 2.0)))) (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (+ (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (+ (log (- lambda1 lambda2)) (log (cos (/ (+ phi1 phi2) 2.0)))))
  (+ (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (log (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (exp (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0)))))
  (* (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (* (- lambda1 lambda2) (- lambda1 lambda2)) (- lambda1 lambda2)) (* (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0))) (cos (/ (+ phi1 phi2) 2.0)))))
  (* (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))))
  (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (sqrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (sqrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))))
  (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))) (+ lambda1 lambda2))
  (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (+ lambda1 lambda2) (+ (* lambda1 lambda1) (+ (* lambda2 lambda2) (* lambda1 lambda2))))
  (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (+ lambda1 lambda2) (+ lambda1 lambda2))
  (* (- lambda1 lambda2) (- lambda1 lambda2))
  (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0)))
  (* 2 1)
  (* 2 1)
  (* 2 1)
  (* 2 1)
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- lambda1 lambda2))
  (* (cos (/ (+ phi1 phi2) 2.0)) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (- phi2 phi1)
  (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))
  (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
  (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
3.064 * * [simplify]: Extracting # 0 : cost  0
3.064 * * [simplify]: Extracting # 1 : cost  0
3.066 * * [simplify]: Extracting # 2 : cost  0
3.068 * * [simplify]: Extracting # 3 : cost  0
3.069 * * [simplify]: Extracting # 4 : cost  0
3.070 * * [simplify]: Extracting # 5 : cost  0
3.071 * * [simplify]: Extracting # 6 : cost  0
3.072 * * [simplify]: Extracting # 7 : cost  0
3.072 * * [simplify]: Extracting # 8 : cost  0
3.073 * * [simplify]: Extracting # 9 : cost  0
3.074 * * [simplify]: Extracting # 10 : cost  0
3.075 * * [simplify]: Extracting # 11 : cost  0
3.075 * * [simplify]: iteration  0 :  455  enodes  (cost  7854 )
3.301 * * [simplify]: Extracting # 0 : cost  0
3.305 * * [simplify]: Extracting # 1 : cost  0
3.308 * * [simplify]: Extracting # 2 : cost  0
3.311 * * [simplify]: Extracting # 3 : cost  0
3.314 * * [simplify]: Extracting # 4 : cost  0
3.318 * * [simplify]: Extracting # 5 : cost  0
3.321 * * [simplify]: iteration  1 :  1367  enodes  (cost  7209 )
3.654 * * [simplify]: Extracting # 0 : cost  0
3.659 * * [simplify]: Extracting # 1 : cost  0
3.671 * * [simplify]: Extracting # 2 : cost  0
3.687 * * [simplify]: Extracting # 3 : cost  0
3.697 * * [simplify]: Extracting # 4 : cost  0
3.710 * * [simplify]: Extracting # 5 : cost  0
3.717 * * [simplify]: iteration done:  5000  enodes  (cost  6873 )
3.719 * [simplify]: Simplified to:
  (log (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (exp (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (cbrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (pow (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) 3)
  (fabs (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (cbrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  1
  (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- (pow phi1 3) (pow phi2 3))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- (pow phi1 3) (pow phi2 3))))))
  (fabs (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))) (- (* phi1 phi1) (* phi2 phi2))) (- (* phi1 phi1) (* phi2 phi2)))))
  (fabs (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))
  (sqrt (+ (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- phi1 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))))
  (sqrt (+ (* (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))))
  (sqrt (+ (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- phi1 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))))
  (sqrt (+ (* (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))))
  (sqrt (+ (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))) (* (+ lambda1 lambda2) (* (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))))
  (sqrt (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))))
  (sqrt (* (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))))
  (sqrt (* (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2)))))
  (sqrt (* (* (+ phi1 phi2) (+ phi1 phi2)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (+ phi1 phi2))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (+ phi1 phi2))))
  (sqrt (+ (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))) (* (+ lambda1 lambda2) (* (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))))
  (sqrt (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))))
  (sqrt (* (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))))
  (sqrt (* (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2)))))
  (sqrt (* (* (+ phi1 phi2) (+ phi1 phi2)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (+ phi1 phi2))))
  (sqrt (+ (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))) (* (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (+ lambda1 lambda2) (+ phi1 phi2))))
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  (fabs (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)))
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  (sqrt (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))))
  (sqrt (+ (* (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (fabs (* (+ lambda1 lambda2) (+ phi1 phi2)))
  (sqrt (+ (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (* (+ lambda1 lambda2) (+ lambda1 lambda2))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (+ phi1 phi2)))
  (sqrt (+ (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (* (+ lambda1 lambda2) (+ lambda1 lambda2))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (* (+ lambda1 lambda2) (+ lambda1 lambda2)) (+ phi1 phi2)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ phi2 phi1)))
  (sqrt (+ (* (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ phi2 phi1)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))))
  (sqrt (* (* (+ phi1 phi2) (+ phi1 phi2)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))
  (sqrt (+ (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- phi1 phi2)) (- (pow phi1 3) (pow phi2 3))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))
  (sqrt (+ (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- phi1 phi2)) (- (pow phi1 3) (pow phi2 3))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ lambda1 lambda2)))
  (sqrt (+ (* (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)) (+ phi2 phi1)))
  (sqrt (+ (* (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)) (+ phi2 phi1)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2)))
  (sqrt (+ (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ phi2 phi1)))
  (sqrt (+ (* (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (+ phi2 phi1) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))))))
  (sqrt (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ phi2 phi1)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))))
  (sqrt (* (* (+ phi1 phi2) (+ phi1 phi2)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))
  (sqrt (+ (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- phi1 phi2)) (- (pow phi1 3) (pow phi2 3))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))
  (sqrt (+ (* (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (- phi1 phi2)) (- (pow phi1 3) (pow phi2 3))) (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))))
  (sqrt (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ phi2 phi1) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1))))
  (sqrt (+ (* (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (+ lambda1 lambda2)))
  (sqrt (+ (* (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)) (+ phi2 phi1)))
  (sqrt (+ (* (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)) (+ phi2 phi1)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ lambda1 lambda2) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2)))
  (sqrt (+ (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)))) (* (+ lambda1 lambda2) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi1 phi2)) (* phi1 phi1)) (+ lambda1 lambda2)))
  (sqrt (+ (* (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0)))) (+ phi1 phi2)) (* (+ lambda1 lambda2) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ lambda1 lambda2) (+ phi1 phi2)))
  (sqrt (+ (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3)) (pow (- phi1 phi2) (* 2 3))))
  (sqrt (+ (* (* (- phi1 phi2) (- phi1 phi2)) (- (* (- phi1 phi2) (- phi1 phi2)) (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))) (* (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) 3) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))))
  (sqrt (- (* (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) 3) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (pow (- phi1 phi2) 3) (- phi1 phi2))))
  (sqrt (- (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))
  1/2
  (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (log (cos (/ (+ phi1 phi2) 2.0)))
  (exp (cos (/ (+ phi1 phi2) 2.0)))
  (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))
  (cbrt (cos (/ (+ phi1 phi2) 2.0)))
  (pow (cos (/ (+ phi1 phi2) 2.0)) 3)
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (log (cos (/ (+ phi1 phi2) 2.0)))
  (exp (cos (/ (+ phi1 phi2) 2.0)))
  (* (cbrt (cos (/ (+ phi1 phi2) 2.0))) (cbrt (cos (/ (+ phi1 phi2) 2.0))))
  (cbrt (cos (/ (+ phi1 phi2) 2.0)))
  (pow (cos (/ (+ phi1 phi2) 2.0)) 3)
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  (sqrt (cos (/ (+ phi1 phi2) 2.0)))
  2
  2
  2
  2
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  2
  2
  (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (* 2 (log (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (exp (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3))
  (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3))
  (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3))
  (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3))
  (* (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))) (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))))
  (cbrt (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))))
  (pow (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* 2 3))
  (fabs (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (fabs (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)))
  (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))
  (* (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (+ (* lambda2 (+ lambda1 lambda2)) (* lambda1 lambda1)) (+ lambda1 lambda2))
  (* (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (+ lambda1 lambda2) (+ lambda1 lambda2))
  (* (- lambda1 lambda2) (- lambda1 lambda2))
  (* (cos (/ (+ phi1 phi2) 2.0)) (cos (/ (+ phi1 phi2) 2.0)))
  2
  2
  2
  2
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (- lambda1 lambda2))
  (* (cos (/ (+ phi1 phi2) 2.0)) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (pow lambda1 3) (pow lambda2 3)) (cos (/ (+ phi1 phi2) 2.0))))
  (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- (* lambda1 lambda1) (* lambda2 lambda2)) (cos (/ (+ phi1 phi2) 2.0))))
  (- phi2 phi1)
  (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))
  (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi1 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
  (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
3.721 * * * [progress]: adding candidates to table
4.865 * * [progress]: iteration 2 / 4
4.865 * * * [progress]: picking best candidate
4.909 * * * * [pick]: Picked  #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))>
4.909 * * * [progress]: localizing error
4.956 * * * [progress]: generating rewritten candidates
4.956 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2)
5.443 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1 1)
5.466 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2 1 1)
5.486 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 1 1 2 1)
5.512 * * * [progress]: generating series expansions
5.512 * * * * [progress]: [ 1 / 4 ] generating series at (2 2)
5.515 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
5.515 * [approximate]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda2 phi2 phi1 lambda1) around 0
5.515 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1
5.515 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1
5.515 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda1
5.515 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
5.515 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.515 * [backup-simplify]: Simplify phi2 into phi2
5.515 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda1
5.515 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda1
5.515 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
5.515 * [taylor]: Taking taylor expansion of lambda2 in lambda1
5.515 * [backup-simplify]: Simplify lambda2 into lambda2
5.515 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
5.516 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
5.516 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
5.516 * [taylor]: Taking taylor expansion of 0.5 in lambda1
5.516 * [backup-simplify]: Simplify 0.5 into 0.5
5.516 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
5.516 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.516 * [backup-simplify]: Simplify phi2 into phi2
5.516 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.516 * [backup-simplify]: Simplify phi1 into phi1
5.516 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.516 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.516 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.516 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.516 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.517 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.518 * [backup-simplify]: Simplify (- 0) into 0
5.518 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.518 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda1
5.518 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1
5.518 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
5.518 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
5.518 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
5.518 * [taylor]: Taking taylor expansion of 0.5 in lambda1
5.518 * [backup-simplify]: Simplify 0.5 into 0.5
5.518 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
5.518 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.518 * [backup-simplify]: Simplify phi2 into phi2
5.518 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.519 * [backup-simplify]: Simplify phi1 into phi1
5.519 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.519 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.519 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.519 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.519 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.519 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.520 * [backup-simplify]: Simplify (- 0) into 0
5.520 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.520 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
5.520 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.520 * [backup-simplify]: Simplify 0 into 0
5.520 * [backup-simplify]: Simplify 1 into 1
5.520 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
5.520 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.520 * [backup-simplify]: Simplify phi1 into phi1
5.520 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1
5.520 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1
5.520 * [taylor]: Taking taylor expansion of 2 in lambda1
5.520 * [backup-simplify]: Simplify 2 into 2
5.520 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
5.520 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.520 * [backup-simplify]: Simplify phi2 into phi2
5.520 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.520 * [backup-simplify]: Simplify phi1 into phi1
5.520 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1
5.520 * [taylor]: Taking taylor expansion of 2 in lambda1
5.521 * [backup-simplify]: Simplify 2 into 2
5.521 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1
5.521 * [taylor]: Taking taylor expansion of lambda2 in lambda1
5.521 * [backup-simplify]: Simplify lambda2 into lambda2
5.521 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1
5.521 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
5.521 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
5.521 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
5.521 * [taylor]: Taking taylor expansion of 0.5 in lambda1
5.521 * [backup-simplify]: Simplify 0.5 into 0.5
5.521 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
5.521 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.521 * [backup-simplify]: Simplify phi2 into phi2
5.521 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.521 * [backup-simplify]: Simplify phi1 into phi1
5.521 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.521 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.521 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.521 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.522 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.522 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.522 * [backup-simplify]: Simplify (- 0) into 0
5.522 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.522 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.522 * [backup-simplify]: Simplify 0 into 0
5.522 * [backup-simplify]: Simplify 1 into 1
5.522 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
5.523 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
5.523 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.523 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2))
5.523 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.523 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
5.524 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2)) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))
5.525 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow phi1 2))) into (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2)))
5.525 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
5.525 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
5.525 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.525 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0
5.526 * [backup-simplify]: Simplify (* lambda2 0) into 0
5.526 * [backup-simplify]: Simplify (* 2 0) into 0
5.526 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
5.526 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
5.527 * [backup-simplify]: Simplify (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))
5.528 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))
5.529 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
5.529 * [backup-simplify]: Simplify (+ 0) into 0
5.530 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
5.530 * [backup-simplify]: Simplify (+ 0 0) into 0
5.531 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
5.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
5.532 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
5.533 * [backup-simplify]: Simplify (- 0) into 0
5.533 * [backup-simplify]: Simplify (+ 0 0) into 0
5.533 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
5.533 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
5.534 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) into 0
5.534 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
5.534 * [backup-simplify]: Simplify (+ 0 0) into 0
5.535 * [backup-simplify]: Simplify (+ 0 0) into 0
5.535 * [backup-simplify]: Simplify (+ 0 0) into 0
5.535 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
5.536 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
5.536 * [backup-simplify]: Simplify (+ 0) into 0
5.537 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
5.537 * [backup-simplify]: Simplify (+ 0 0) into 0
5.538 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
5.538 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
5.539 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
5.540 * [backup-simplify]: Simplify (- 0) into 0
5.540 * [backup-simplify]: Simplify (+ 0 0) into 0
5.540 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
5.541 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.542 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))
5.543 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
5.543 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
5.543 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
5.544 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
5.545 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi2 2) (pow phi1 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (pow phi1 2) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
5.545 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1
5.546 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1
5.546 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.546 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
5.546 * [taylor]: Taking taylor expansion of phi2 in phi1
5.546 * [backup-simplify]: Simplify phi2 into phi2
5.546 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.546 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi1
5.546 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
5.546 * [taylor]: Taking taylor expansion of lambda2 in phi1
5.546 * [backup-simplify]: Simplify lambda2 into lambda2
5.546 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
5.546 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
5.546 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
5.546 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.546 * [backup-simplify]: Simplify 0.5 into 0.5
5.546 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
5.546 * [taylor]: Taking taylor expansion of phi2 in phi1
5.546 * [backup-simplify]: Simplify phi2 into phi2
5.546 * [taylor]: Taking taylor expansion of phi1 in phi1
5.546 * [backup-simplify]: Simplify 0 into 0
5.546 * [backup-simplify]: Simplify 1 into 1
5.546 * [backup-simplify]: Simplify (+ phi2 0) into phi2
5.546 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
5.546 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
5.547 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
5.547 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
5.547 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
5.547 * [backup-simplify]: Simplify (- 0) into 0
5.547 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
5.548 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.548 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1
5.548 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
5.548 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
5.548 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
5.548 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.548 * [backup-simplify]: Simplify 0.5 into 0.5
5.548 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
5.548 * [taylor]: Taking taylor expansion of phi2 in phi1
5.548 * [backup-simplify]: Simplify phi2 into phi2
5.548 * [taylor]: Taking taylor expansion of phi1 in phi1
5.548 * [backup-simplify]: Simplify 0 into 0
5.548 * [backup-simplify]: Simplify 1 into 1
5.548 * [backup-simplify]: Simplify (+ phi2 0) into phi2
5.548 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
5.548 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
5.548 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
5.548 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
5.548 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
5.549 * [backup-simplify]: Simplify (- 0) into 0
5.549 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
5.549 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.549 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.549 * [backup-simplify]: Simplify lambda1 into lambda1
5.549 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.549 * [taylor]: Taking taylor expansion of phi1 in phi1
5.549 * [backup-simplify]: Simplify 0 into 0
5.549 * [backup-simplify]: Simplify 1 into 1
5.549 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1
5.549 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1
5.549 * [taylor]: Taking taylor expansion of 2 in phi1
5.549 * [backup-simplify]: Simplify 2 into 2
5.549 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
5.550 * [taylor]: Taking taylor expansion of phi2 in phi1
5.550 * [backup-simplify]: Simplify phi2 into phi2
5.550 * [taylor]: Taking taylor expansion of phi1 in phi1
5.550 * [backup-simplify]: Simplify 0 into 0
5.550 * [backup-simplify]: Simplify 1 into 1
5.550 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1
5.550 * [taylor]: Taking taylor expansion of 2 in phi1
5.550 * [backup-simplify]: Simplify 2 into 2
5.550 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1
5.550 * [taylor]: Taking taylor expansion of lambda2 in phi1
5.550 * [backup-simplify]: Simplify lambda2 into lambda2
5.550 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1
5.550 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
5.550 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
5.550 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
5.550 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.550 * [backup-simplify]: Simplify 0.5 into 0.5
5.550 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
5.550 * [taylor]: Taking taylor expansion of phi2 in phi1
5.550 * [backup-simplify]: Simplify phi2 into phi2
5.550 * [taylor]: Taking taylor expansion of phi1 in phi1
5.550 * [backup-simplify]: Simplify 0 into 0
5.550 * [backup-simplify]: Simplify 1 into 1
5.550 * [backup-simplify]: Simplify (+ phi2 0) into phi2
5.550 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
5.550 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
5.550 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
5.551 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
5.551 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
5.551 * [backup-simplify]: Simplify (- 0) into 0
5.551 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
5.551 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.551 * [backup-simplify]: Simplify lambda1 into lambda1
5.551 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
5.551 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
5.552 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
5.552 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))
5.552 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
5.552 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.553 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))
5.553 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))
5.554 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))
5.555 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2)))
5.555 * [backup-simplify]: Simplify (* phi2 0) into 0
5.556 * [backup-simplify]: Simplify (* 2 0) into 0
5.556 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
5.556 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1)
5.556 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))
5.556 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
5.557 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
5.557 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))
5.558 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))
5.559 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))
5.559 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
5.559 * [backup-simplify]: Simplify (+ 0) into 0
5.560 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
5.560 * [backup-simplify]: Simplify (+ 0 1) into 1
5.560 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
5.562 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.562 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
5.562 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
5.562 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
5.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
5.563 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
5.563 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))) (* 0 (pow (cos (* 0.5 phi2)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))
5.563 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.563 * [backup-simplify]: Simplify (+ 0) into 0
5.564 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
5.564 * [backup-simplify]: Simplify (+ 0 1) into 1
5.564 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
5.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.566 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
5.566 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
5.566 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
5.567 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
5.567 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))
5.567 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))
5.568 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))
5.569 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))
5.569 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
5.569 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
5.570 * [backup-simplify]: Simplify (+ 0) into 0
5.570 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
5.570 * [backup-simplify]: Simplify (+ 0 1) into 1
5.570 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
5.572 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.572 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
5.572 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
5.572 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
5.573 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
5.573 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))
5.573 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
5.574 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
5.574 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
5.574 * [backup-simplify]: Simplify (- (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))
5.575 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (* 2 phi2))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))
5.577 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))))
5.577 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2
5.577 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2
5.577 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in phi2
5.577 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
5.577 * [taylor]: Taking taylor expansion of phi2 in phi2
5.577 * [backup-simplify]: Simplify 0 into 0
5.577 * [backup-simplify]: Simplify 1 into 1
5.577 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in phi2
5.577 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in phi2
5.577 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
5.577 * [taylor]: Taking taylor expansion of lambda2 in phi2
5.577 * [backup-simplify]: Simplify lambda2 into lambda2
5.577 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.577 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.577 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.577 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.577 * [backup-simplify]: Simplify 0.5 into 0.5
5.577 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.577 * [taylor]: Taking taylor expansion of phi2 in phi2
5.577 * [backup-simplify]: Simplify 0 into 0
5.577 * [backup-simplify]: Simplify 1 into 1
5.577 * [taylor]: Taking taylor expansion of phi1 in phi2
5.577 * [backup-simplify]: Simplify phi1 into phi1
5.577 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.577 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.578 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.578 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.578 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.578 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.578 * [backup-simplify]: Simplify (- 0) into 0
5.578 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.578 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in phi2
5.578 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
5.578 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.578 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.578 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.578 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.578 * [backup-simplify]: Simplify 0.5 into 0.5
5.578 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.578 * [taylor]: Taking taylor expansion of phi2 in phi2
5.578 * [backup-simplify]: Simplify 0 into 0
5.578 * [backup-simplify]: Simplify 1 into 1
5.578 * [taylor]: Taking taylor expansion of phi1 in phi2
5.578 * [backup-simplify]: Simplify phi1 into phi1
5.578 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.578 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.579 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.579 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.579 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.579 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.579 * [backup-simplify]: Simplify (- 0) into 0
5.579 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.579 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
5.579 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.579 * [backup-simplify]: Simplify lambda1 into lambda1
5.579 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
5.579 * [taylor]: Taking taylor expansion of phi1 in phi2
5.579 * [backup-simplify]: Simplify phi1 into phi1
5.579 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2
5.579 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
5.579 * [taylor]: Taking taylor expansion of 2 in phi2
5.579 * [backup-simplify]: Simplify 2 into 2
5.579 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
5.579 * [taylor]: Taking taylor expansion of phi2 in phi2
5.579 * [backup-simplify]: Simplify 0 into 0
5.579 * [backup-simplify]: Simplify 1 into 1
5.579 * [taylor]: Taking taylor expansion of phi1 in phi2
5.579 * [backup-simplify]: Simplify phi1 into phi1
5.579 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
5.579 * [taylor]: Taking taylor expansion of 2 in phi2
5.579 * [backup-simplify]: Simplify 2 into 2
5.579 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
5.579 * [taylor]: Taking taylor expansion of lambda2 in phi2
5.579 * [backup-simplify]: Simplify lambda2 into lambda2
5.579 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
5.579 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.579 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.580 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.580 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.580 * [backup-simplify]: Simplify 0.5 into 0.5
5.580 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.580 * [taylor]: Taking taylor expansion of phi2 in phi2
5.580 * [backup-simplify]: Simplify 0 into 0
5.580 * [backup-simplify]: Simplify 1 into 1
5.580 * [taylor]: Taking taylor expansion of phi1 in phi2
5.580 * [backup-simplify]: Simplify phi1 into phi1
5.580 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.580 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.580 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.580 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.580 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.580 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.580 * [backup-simplify]: Simplify (- 0) into 0
5.580 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.580 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.580 * [backup-simplify]: Simplify lambda1 into lambda1
5.580 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
5.580 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.581 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))
5.581 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.581 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.581 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.581 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.581 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.582 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
5.582 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
5.582 * [backup-simplify]: Simplify (* 0 phi1) into 0
5.583 * [backup-simplify]: Simplify (* 2 0) into 0
5.583 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.583 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
5.583 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))
5.583 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
5.584 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
5.584 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))
5.585 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))
5.586 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))
5.587 * [backup-simplify]: Simplify (+ 0) into 0
5.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
5.588 * [backup-simplify]: Simplify (+ 1 0) into 1
5.588 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
5.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.592 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
5.592 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.592 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.593 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
5.593 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
5.594 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (* 0 (pow (cos (* 0.5 phi1)) 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))
5.594 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.594 * [backup-simplify]: Simplify (+ 0) into 0
5.595 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
5.595 * [backup-simplify]: Simplify (+ 1 0) into 1
5.596 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
5.598 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.599 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
5.599 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.599 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.600 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
5.600 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.600 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
5.601 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.602 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))
5.603 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))
5.604 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
5.605 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
5.605 * [backup-simplify]: Simplify (+ 0) into 0
5.606 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
5.606 * [backup-simplify]: Simplify (+ 1 0) into 1
5.607 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
5.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.614 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
5.614 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.614 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.614 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
5.615 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
5.616 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
5.616 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
5.617 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
5.617 * [backup-simplify]: Simplify (- (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))
5.619 * [backup-simplify]: Simplify (+ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (* 2 phi1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))))
5.622 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))))
5.622 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
5.623 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
5.623 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2
5.623 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
5.623 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.623 * [backup-simplify]: Simplify phi2 into phi2
5.623 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2
5.623 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
5.623 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
5.623 * [taylor]: Taking taylor expansion of lambda2 in lambda2
5.623 * [backup-simplify]: Simplify 0 into 0
5.623 * [backup-simplify]: Simplify 1 into 1
5.623 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
5.623 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
5.623 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
5.623 * [taylor]: Taking taylor expansion of 0.5 in lambda2
5.623 * [backup-simplify]: Simplify 0.5 into 0.5
5.623 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
5.623 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.623 * [backup-simplify]: Simplify phi2 into phi2
5.623 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.623 * [backup-simplify]: Simplify phi1 into phi1
5.623 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.623 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.623 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.624 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.624 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.624 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.625 * [backup-simplify]: Simplify (- 0) into 0
5.625 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.625 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2
5.625 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2
5.625 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
5.625 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
5.625 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
5.625 * [taylor]: Taking taylor expansion of 0.5 in lambda2
5.625 * [backup-simplify]: Simplify 0.5 into 0.5
5.625 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
5.625 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.625 * [backup-simplify]: Simplify phi2 into phi2
5.625 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.625 * [backup-simplify]: Simplify phi1 into phi1
5.625 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.625 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.625 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.625 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.626 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.626 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.626 * [backup-simplify]: Simplify (- 0) into 0
5.626 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.626 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
5.626 * [taylor]: Taking taylor expansion of lambda1 in lambda2
5.626 * [backup-simplify]: Simplify lambda1 into lambda1
5.627 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
5.627 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.627 * [backup-simplify]: Simplify phi1 into phi1
5.627 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
5.627 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
5.627 * [taylor]: Taking taylor expansion of 2 in lambda2
5.627 * [backup-simplify]: Simplify 2 into 2
5.627 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
5.627 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.627 * [backup-simplify]: Simplify phi2 into phi2
5.627 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.627 * [backup-simplify]: Simplify phi1 into phi1
5.627 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
5.627 * [taylor]: Taking taylor expansion of 2 in lambda2
5.627 * [backup-simplify]: Simplify 2 into 2
5.627 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
5.627 * [taylor]: Taking taylor expansion of lambda2 in lambda2
5.627 * [backup-simplify]: Simplify 0 into 0
5.627 * [backup-simplify]: Simplify 1 into 1
5.627 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
5.627 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
5.627 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
5.627 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
5.627 * [taylor]: Taking taylor expansion of 0.5 in lambda2
5.627 * [backup-simplify]: Simplify 0.5 into 0.5
5.627 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
5.627 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.627 * [backup-simplify]: Simplify phi2 into phi2
5.627 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.627 * [backup-simplify]: Simplify phi1 into phi1
5.627 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.628 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.628 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.628 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.628 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.628 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.629 * [backup-simplify]: Simplify (- 0) into 0
5.629 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.629 * [taylor]: Taking taylor expansion of lambda1 in lambda2
5.629 * [backup-simplify]: Simplify lambda1 into lambda1
5.629 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
5.629 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.629 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.630 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
5.630 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.630 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))
5.631 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))
5.632 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)))
5.632 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
5.632 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
5.632 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.632 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
5.633 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
5.633 * [backup-simplify]: Simplify (* 2 0) into 0
5.633 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
5.633 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
5.635 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))
5.636 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))
5.636 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
5.636 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.636 * [backup-simplify]: Simplify (+ 0) into 0
5.637 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
5.637 * [backup-simplify]: Simplify (+ 0 0) into 0
5.637 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
5.638 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
5.638 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
5.638 * [backup-simplify]: Simplify (- 0) into 0
5.639 * [backup-simplify]: Simplify (+ 0 0) into 0
5.639 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
5.639 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0
5.639 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
5.639 * [backup-simplify]: Simplify (+ 0 0) into 0
5.639 * [backup-simplify]: Simplify (+ 0 0) into 0
5.640 * [backup-simplify]: Simplify (+ 0 0) into 0
5.640 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
5.640 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
5.640 * [backup-simplify]: Simplify (+ 0) into 0
5.641 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
5.641 * [backup-simplify]: Simplify (+ 0 0) into 0
5.641 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
5.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
5.642 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
5.642 * [backup-simplify]: Simplify (- 0) into 0
5.642 * [backup-simplify]: Simplify (+ 0 0) into 0
5.643 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
5.643 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
5.643 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
5.644 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
5.644 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
5.644 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
5.644 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
5.645 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
5.645 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
5.645 * [taylor]: Taking taylor expansion of (- (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
5.645 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)))) in lambda2
5.645 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
5.645 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.645 * [backup-simplify]: Simplify phi2 into phi2
5.645 * [taylor]: Taking taylor expansion of (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) in lambda2
5.645 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) in lambda2
5.645 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
5.645 * [taylor]: Taking taylor expansion of lambda2 in lambda2
5.646 * [backup-simplify]: Simplify 0 into 0
5.646 * [backup-simplify]: Simplify 1 into 1
5.646 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
5.646 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
5.646 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
5.646 * [taylor]: Taking taylor expansion of 0.5 in lambda2
5.646 * [backup-simplify]: Simplify 0.5 into 0.5
5.646 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
5.646 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.646 * [backup-simplify]: Simplify phi2 into phi2
5.646 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.646 * [backup-simplify]: Simplify phi1 into phi1
5.646 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.646 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.646 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.646 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.646 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.646 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.646 * [backup-simplify]: Simplify (- 0) into 0
5.646 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.646 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) in lambda2
5.646 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2
5.647 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
5.647 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
5.647 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
5.647 * [taylor]: Taking taylor expansion of 0.5 in lambda2
5.647 * [backup-simplify]: Simplify 0.5 into 0.5
5.647 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
5.647 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.647 * [backup-simplify]: Simplify phi2 into phi2
5.647 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.647 * [backup-simplify]: Simplify phi1 into phi1
5.647 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.647 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.647 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.647 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.647 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.647 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.647 * [backup-simplify]: Simplify (- 0) into 0
5.647 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.647 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
5.647 * [taylor]: Taking taylor expansion of lambda1 in lambda2
5.647 * [backup-simplify]: Simplify lambda1 into lambda1
5.647 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
5.647 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.647 * [backup-simplify]: Simplify phi1 into phi1
5.648 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
5.648 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
5.648 * [taylor]: Taking taylor expansion of 2 in lambda2
5.648 * [backup-simplify]: Simplify 2 into 2
5.648 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
5.648 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.648 * [backup-simplify]: Simplify phi2 into phi2
5.648 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.648 * [backup-simplify]: Simplify phi1 into phi1
5.648 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
5.648 * [taylor]: Taking taylor expansion of 2 in lambda2
5.648 * [backup-simplify]: Simplify 2 into 2
5.648 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
5.648 * [taylor]: Taking taylor expansion of lambda2 in lambda2
5.648 * [backup-simplify]: Simplify 0 into 0
5.648 * [backup-simplify]: Simplify 1 into 1
5.648 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
5.648 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
5.648 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
5.648 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
5.648 * [taylor]: Taking taylor expansion of 0.5 in lambda2
5.648 * [backup-simplify]: Simplify 0.5 into 0.5
5.648 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
5.648 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.648 * [backup-simplify]: Simplify phi2 into phi2
5.648 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.648 * [backup-simplify]: Simplify phi1 into phi1
5.648 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
5.648 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
5.648 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
5.648 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
5.648 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
5.648 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
5.649 * [backup-simplify]: Simplify (- 0) into 0
5.649 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
5.649 * [taylor]: Taking taylor expansion of lambda1 in lambda2
5.649 * [backup-simplify]: Simplify lambda1 into lambda1
5.649 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
5.649 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.649 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.649 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
5.649 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.649 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))
5.650 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))
5.651 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)))
5.651 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
5.651 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
5.651 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.651 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
5.651 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
5.651 * [backup-simplify]: Simplify (* 2 0) into 0
5.652 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
5.652 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
5.652 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))
5.653 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))
5.653 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
5.653 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.653 * [backup-simplify]: Simplify (+ 0) into 0
5.654 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
5.654 * [backup-simplify]: Simplify (+ 0 0) into 0
5.654 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
5.655 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
5.655 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
5.655 * [backup-simplify]: Simplify (- 0) into 0
5.656 * [backup-simplify]: Simplify (+ 0 0) into 0
5.656 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
5.656 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0
5.656 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
5.656 * [backup-simplify]: Simplify (+ 0 0) into 0
5.656 * [backup-simplify]: Simplify (+ 0 0) into 0
5.657 * [backup-simplify]: Simplify (+ 0 0) into 0
5.657 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
5.657 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
5.657 * [backup-simplify]: Simplify (+ 0) into 0
5.658 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
5.658 * [backup-simplify]: Simplify (+ 0 0) into 0
5.658 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
5.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
5.659 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
5.659 * [backup-simplify]: Simplify (- 0) into 0
5.659 * [backup-simplify]: Simplify (+ 0 0) into 0
5.660 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
5.660 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
5.660 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
5.661 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
5.661 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
5.661 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
5.661 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
5.662 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
5.662 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2
5.662 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2
5.662 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2
5.662 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
5.662 * [taylor]: Taking taylor expansion of phi1 in phi2
5.662 * [backup-simplify]: Simplify phi1 into phi1
5.662 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2
5.662 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
5.662 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.662 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.662 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.663 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.663 * [backup-simplify]: Simplify 0.5 into 0.5
5.663 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.663 * [taylor]: Taking taylor expansion of phi2 in phi2
5.663 * [backup-simplify]: Simplify 0 into 0
5.663 * [backup-simplify]: Simplify 1 into 1
5.663 * [taylor]: Taking taylor expansion of phi1 in phi2
5.663 * [backup-simplify]: Simplify phi1 into phi1
5.663 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.663 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.663 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.663 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.663 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.663 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.663 * [backup-simplify]: Simplify (- 0) into 0
5.663 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.663 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
5.663 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.663 * [backup-simplify]: Simplify lambda1 into lambda1
5.663 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
5.663 * [taylor]: Taking taylor expansion of phi2 in phi2
5.663 * [backup-simplify]: Simplify 0 into 0
5.663 * [backup-simplify]: Simplify 1 into 1
5.663 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
5.663 * [taylor]: Taking taylor expansion of 2 in phi2
5.663 * [backup-simplify]: Simplify 2 into 2
5.663 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
5.663 * [taylor]: Taking taylor expansion of phi2 in phi2
5.663 * [backup-simplify]: Simplify 0 into 0
5.663 * [backup-simplify]: Simplify 1 into 1
5.663 * [taylor]: Taking taylor expansion of phi1 in phi2
5.664 * [backup-simplify]: Simplify phi1 into phi1
5.664 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.664 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.664 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.664 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.664 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.664 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.664 * [backup-simplify]: Simplify (* 0 phi1) into 0
5.665 * [backup-simplify]: Simplify (* 2 0) into 0
5.665 * [backup-simplify]: Simplify (- 0) into 0
5.665 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.666 * [backup-simplify]: Simplify (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
5.666 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
5.666 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.666 * [backup-simplify]: Simplify (+ 0) into 0
5.666 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
5.667 * [backup-simplify]: Simplify (+ 1 0) into 1
5.667 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
5.668 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.669 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
5.669 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.669 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.669 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
5.669 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.670 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.670 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.671 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
5.671 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
5.671 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
5.671 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
5.672 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))))
5.672 * [taylor]: Taking taylor expansion of (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.672 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.672 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.672 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.672 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.672 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.672 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.672 * [backup-simplify]: Simplify 0.5 into 0.5
5.672 * [taylor]: Taking taylor expansion of phi1 in phi1
5.672 * [backup-simplify]: Simplify 0 into 0
5.672 * [backup-simplify]: Simplify 1 into 1
5.673 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.674 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.674 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.674 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.674 * [backup-simplify]: Simplify lambda1 into lambda1
5.674 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.674 * [taylor]: Taking taylor expansion of phi1 in phi1
5.674 * [backup-simplify]: Simplify 0 into 0
5.674 * [backup-simplify]: Simplify 1 into 1
5.675 * [backup-simplify]: Simplify (* 1 1) into 1
5.675 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.675 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.675 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.675 * [backup-simplify]: Simplify (sqrt (pow lambda1 2)) into lambda1
5.676 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.676 * [backup-simplify]: Simplify (+ 0) into 0
5.677 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.677 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
5.678 * [backup-simplify]: Simplify (+ 0 0) into 0
5.678 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (pow lambda1 2)))) into 0
5.678 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.678 * [backup-simplify]: Simplify 0 into 0
5.678 * [backup-simplify]: Simplify 1 into 1
5.678 * [backup-simplify]: Simplify 0 into 0
5.678 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
5.678 * [taylor]: Taking taylor expansion of -1 in phi2
5.678 * [backup-simplify]: Simplify -1 into -1
5.678 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
5.678 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2
5.678 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2
5.678 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2
5.678 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2
5.678 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
5.678 * [taylor]: Taking taylor expansion of phi1 in phi2
5.678 * [backup-simplify]: Simplify phi1 into phi1
5.678 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2
5.678 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
5.679 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.679 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.679 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.679 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.679 * [backup-simplify]: Simplify 0.5 into 0.5
5.679 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.679 * [taylor]: Taking taylor expansion of phi2 in phi2
5.679 * [backup-simplify]: Simplify 0 into 0
5.679 * [backup-simplify]: Simplify 1 into 1
5.679 * [taylor]: Taking taylor expansion of phi1 in phi2
5.679 * [backup-simplify]: Simplify phi1 into phi1
5.679 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.679 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.679 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.679 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.679 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.679 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.680 * [backup-simplify]: Simplify (- 0) into 0
5.680 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.680 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
5.680 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.680 * [backup-simplify]: Simplify lambda1 into lambda1
5.680 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
5.680 * [taylor]: Taking taylor expansion of phi2 in phi2
5.680 * [backup-simplify]: Simplify 0 into 0
5.680 * [backup-simplify]: Simplify 1 into 1
5.680 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
5.680 * [taylor]: Taking taylor expansion of 2 in phi2
5.680 * [backup-simplify]: Simplify 2 into 2
5.680 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
5.680 * [taylor]: Taking taylor expansion of phi2 in phi2
5.680 * [backup-simplify]: Simplify 0 into 0
5.680 * [backup-simplify]: Simplify 1 into 1
5.680 * [taylor]: Taking taylor expansion of phi1 in phi2
5.680 * [backup-simplify]: Simplify phi1 into phi1
5.680 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.681 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.681 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.681 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.681 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.682 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.682 * [backup-simplify]: Simplify (* 0 phi1) into 0
5.683 * [backup-simplify]: Simplify (* 2 0) into 0
5.683 * [backup-simplify]: Simplify (- 0) into 0
5.684 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.684 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
5.685 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
5.685 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
5.685 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.685 * [backup-simplify]: Simplify (+ 0) into 0
5.686 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
5.686 * [backup-simplify]: Simplify (+ 1 0) into 1
5.687 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
5.689 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.690 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
5.690 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.690 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.691 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
5.691 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.692 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.693 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.693 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
5.694 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
5.694 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
5.694 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
5.697 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))))
5.699 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
5.700 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
5.700 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.700 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.700 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.700 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.700 * [backup-simplify]: Simplify 0.5 into 0.5
5.700 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.700 * [taylor]: Taking taylor expansion of phi2 in phi2
5.700 * [backup-simplify]: Simplify 0 into 0
5.700 * [backup-simplify]: Simplify 1 into 1
5.700 * [taylor]: Taking taylor expansion of phi1 in phi2
5.700 * [backup-simplify]: Simplify phi1 into phi1
5.702 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.702 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.702 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.702 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.702 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.702 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.703 * [backup-simplify]: Simplify (- 0) into 0
5.703 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.703 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.703 * [backup-simplify]: Simplify lambda1 into lambda1
5.703 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.703 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
5.704 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
5.705 * [backup-simplify]: Simplify (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
5.705 * [taylor]: Taking taylor expansion of (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
5.705 * [taylor]: Taking taylor expansion of -1 in phi1
5.706 * [backup-simplify]: Simplify -1 into -1
5.706 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
5.706 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) lambda1) in phi1
5.706 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.706 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.706 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.706 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.706 * [backup-simplify]: Simplify 0.5 into 0.5
5.706 * [taylor]: Taking taylor expansion of phi1 in phi1
5.706 * [backup-simplify]: Simplify 0 into 0
5.706 * [backup-simplify]: Simplify 1 into 1
5.707 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.708 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.708 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.708 * [backup-simplify]: Simplify lambda1 into lambda1
5.708 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.708 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.709 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.709 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.709 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.709 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.709 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.709 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.709 * [backup-simplify]: Simplify 0.5 into 0.5
5.709 * [taylor]: Taking taylor expansion of phi1 in phi1
5.709 * [backup-simplify]: Simplify 0 into 0
5.709 * [backup-simplify]: Simplify 1 into 1
5.709 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.711 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.711 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.711 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.711 * [backup-simplify]: Simplify lambda1 into lambda1
5.711 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.711 * [taylor]: Taking taylor expansion of phi1 in phi1
5.711 * [backup-simplify]: Simplify 0 into 0
5.711 * [backup-simplify]: Simplify 1 into 1
5.711 * [backup-simplify]: Simplify (* 1 1) into 1
5.711 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.712 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.712 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.712 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
5.712 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
5.712 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.713 * [backup-simplify]: Simplify (+ 0) into 0
5.713 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.714 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
5.714 * [backup-simplify]: Simplify (+ 0 0) into 0
5.715 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
5.715 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
5.715 * [backup-simplify]: Simplify (* 1 1) into 1
5.715 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
5.715 * [backup-simplify]: Simplify (* lambda1 (/ 1 lambda1)) into 1
5.716 * [backup-simplify]: Simplify (* -1 1) into -1
5.716 * [taylor]: Taking taylor expansion of -1 in lambda1
5.716 * [backup-simplify]: Simplify -1 into -1
5.716 * [backup-simplify]: Simplify -1 into -1
5.716 * [taylor]: Taking taylor expansion of (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) in phi1
5.716 * [taylor]: Taking taylor expansion of -1/2 in phi1
5.716 * [backup-simplify]: Simplify -1/2 into -1/2
5.716 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) in phi1
5.716 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.716 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.716 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.716 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.716 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.716 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.716 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.716 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.716 * [backup-simplify]: Simplify 0.5 into 0.5
5.716 * [taylor]: Taking taylor expansion of phi1 in phi1
5.716 * [backup-simplify]: Simplify 0 into 0
5.716 * [backup-simplify]: Simplify 1 into 1
5.717 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.718 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.718 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.718 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.719 * [backup-simplify]: Simplify lambda1 into lambda1
5.719 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.719 * [taylor]: Taking taylor expansion of phi1 in phi1
5.719 * [backup-simplify]: Simplify 0 into 0
5.719 * [backup-simplify]: Simplify 1 into 1
5.719 * [backup-simplify]: Simplify (* 1 1) into 1
5.719 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.719 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.719 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.720 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
5.720 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
5.720 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.720 * [backup-simplify]: Simplify (+ 0) into 0
5.721 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.721 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
5.722 * [backup-simplify]: Simplify (+ 0 0) into 0
5.722 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
5.722 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
5.722 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) in phi1
5.722 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1
5.723 * [taylor]: Taking taylor expansion of 1.0 in phi1
5.723 * [backup-simplify]: Simplify 1.0 into 1.0
5.723 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1
5.723 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.723 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.723 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.723 * [backup-simplify]: Simplify 0.5 into 0.5
5.723 * [taylor]: Taking taylor expansion of phi1 in phi1
5.723 * [backup-simplify]: Simplify 0 into 0
5.723 * [backup-simplify]: Simplify 1 into 1
5.723 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.725 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.725 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1
5.725 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
5.725 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.725 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.725 * [backup-simplify]: Simplify 0.5 into 0.5
5.725 * [taylor]: Taking taylor expansion of phi1 in phi1
5.725 * [backup-simplify]: Simplify 0 into 0
5.725 * [backup-simplify]: Simplify 1 into 1
5.725 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.727 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.727 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.727 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.727 * [backup-simplify]: Simplify lambda1 into lambda1
5.727 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1
5.727 * [taylor]: Taking taylor expansion of 2 in phi1
5.727 * [backup-simplify]: Simplify 2 into 2
5.727 * [taylor]: Taking taylor expansion of phi1 in phi1
5.727 * [backup-simplify]: Simplify 0 into 0
5.727 * [backup-simplify]: Simplify 1 into 1
5.727 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.727 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0
5.728 * [backup-simplify]: Simplify (* 1 0) into 0
5.728 * [backup-simplify]: Simplify (* 1.0 0) into 0
5.729 * [backup-simplify]: Simplify (* 2 0) into 0
5.729 * [backup-simplify]: Simplify (+ 0 0) into 0
5.729 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0
5.730 * [backup-simplify]: Simplify (* -1/2 0) into 0
5.730 * [taylor]: Taking taylor expansion of 0 in lambda1
5.730 * [backup-simplify]: Simplify 0 into 0
5.730 * [backup-simplify]: Simplify 0 into 0
5.730 * [taylor]: Taking taylor expansion of 0 in lambda1
5.730 * [backup-simplify]: Simplify 0 into 0
5.730 * [backup-simplify]: Simplify 0 into 0
5.730 * [backup-simplify]: Simplify 1 into 1
5.730 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
5.731 * [backup-simplify]: Simplify (* 1 1) into 1
5.731 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.731 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.732 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
5.733 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
5.734 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
5.734 * [backup-simplify]: Simplify (+ 0 0) into 0
5.736 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
5.736 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
5.737 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
5.737 * [backup-simplify]: Simplify (- 0) into 0
5.738 * [backup-simplify]: Simplify (+ 0 0) into 0
5.738 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
5.739 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
5.740 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
5.740 * [backup-simplify]: Simplify (+ 0 0) into 0
5.740 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.741 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.741 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0
5.742 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0
5.743 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
5.743 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
5.744 * [backup-simplify]: Simplify (+ 0 0) into 0
5.745 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
5.746 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
5.746 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
5.747 * [backup-simplify]: Simplify (- 0) into 0
5.747 * [backup-simplify]: Simplify (+ 0 0) into 0
5.748 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
5.748 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 lambda1))) into 0
5.749 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into 0
5.750 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0))) into 0
5.751 * [backup-simplify]: Simplify (+ 0 0) into 0
5.751 * [backup-simplify]: Simplify (- 0) into 0
5.751 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
5.755 * [backup-simplify]: Simplify (/ (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))))
5.755 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))))) in phi2
5.755 * [taylor]: Taking taylor expansion of 1/2 in phi2
5.755 * [backup-simplify]: Simplify 1/2 into 1/2
5.755 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) in phi2
5.755 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2
5.755 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2
5.755 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2
5.755 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2
5.755 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
5.755 * [taylor]: Taking taylor expansion of phi1 in phi2
5.756 * [backup-simplify]: Simplify phi1 into phi1
5.756 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2
5.756 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
5.756 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.756 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.756 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.756 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.756 * [backup-simplify]: Simplify 0.5 into 0.5
5.756 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.756 * [taylor]: Taking taylor expansion of phi2 in phi2
5.756 * [backup-simplify]: Simplify 0 into 0
5.756 * [backup-simplify]: Simplify 1 into 1
5.756 * [taylor]: Taking taylor expansion of phi1 in phi2
5.756 * [backup-simplify]: Simplify phi1 into phi1
5.756 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.756 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.756 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.756 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.756 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.756 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.757 * [backup-simplify]: Simplify (- 0) into 0
5.757 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.757 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
5.757 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.757 * [backup-simplify]: Simplify lambda1 into lambda1
5.757 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
5.757 * [taylor]: Taking taylor expansion of phi2 in phi2
5.757 * [backup-simplify]: Simplify 0 into 0
5.757 * [backup-simplify]: Simplify 1 into 1
5.757 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
5.757 * [taylor]: Taking taylor expansion of 2 in phi2
5.757 * [backup-simplify]: Simplify 2 into 2
5.757 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
5.757 * [taylor]: Taking taylor expansion of phi2 in phi2
5.757 * [backup-simplify]: Simplify 0 into 0
5.757 * [backup-simplify]: Simplify 1 into 1
5.757 * [taylor]: Taking taylor expansion of phi1 in phi2
5.757 * [backup-simplify]: Simplify phi1 into phi1
5.758 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.758 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.758 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.758 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.758 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.759 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.759 * [backup-simplify]: Simplify (* 0 phi1) into 0
5.760 * [backup-simplify]: Simplify (* 2 0) into 0
5.760 * [backup-simplify]: Simplify (- 0) into 0
5.761 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.761 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
5.762 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
5.762 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
5.762 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.763 * [backup-simplify]: Simplify (+ 0) into 0
5.763 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
5.764 * [backup-simplify]: Simplify (+ 1 0) into 1
5.764 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
5.766 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.771 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
5.771 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.771 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.772 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
5.772 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.773 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.774 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
5.774 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
5.775 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
5.775 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
5.776 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
5.778 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))))
5.780 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
5.781 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 (+ phi2 phi1))) 2) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2
5.781 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.781 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.781 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.781 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.781 * [backup-simplify]: Simplify 0.5 into 0.5
5.781 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.781 * [taylor]: Taking taylor expansion of phi2 in phi2
5.781 * [backup-simplify]: Simplify 0 into 0
5.781 * [backup-simplify]: Simplify 1 into 1
5.781 * [taylor]: Taking taylor expansion of phi1 in phi2
5.781 * [backup-simplify]: Simplify phi1 into phi1
5.781 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.781 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.781 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.781 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.781 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.781 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.782 * [backup-simplify]: Simplify (- 0) into 0
5.782 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.782 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2
5.782 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) in phi2
5.782 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in phi2
5.782 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.782 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.782 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.782 * [backup-simplify]: Simplify 0.5 into 0.5
5.782 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.782 * [taylor]: Taking taylor expansion of phi2 in phi2
5.782 * [backup-simplify]: Simplify 0 into 0
5.782 * [backup-simplify]: Simplify 1 into 1
5.783 * [taylor]: Taking taylor expansion of phi1 in phi2
5.783 * [backup-simplify]: Simplify phi1 into phi1
5.783 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.783 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.783 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.783 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.783 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.783 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.783 * [backup-simplify]: Simplify (- 0) into 0
5.784 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.784 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
5.784 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.784 * [backup-simplify]: Simplify lambda1 into lambda1
5.784 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2
5.784 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2
5.784 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
5.784 * [taylor]: Taking taylor expansion of phi1 in phi2
5.784 * [backup-simplify]: Simplify phi1 into phi1
5.784 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2
5.784 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
5.784 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
5.784 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
5.784 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
5.784 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.784 * [backup-simplify]: Simplify 0.5 into 0.5
5.784 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
5.784 * [taylor]: Taking taylor expansion of phi2 in phi2
5.784 * [backup-simplify]: Simplify 0 into 0
5.784 * [backup-simplify]: Simplify 1 into 1
5.784 * [taylor]: Taking taylor expansion of phi1 in phi2
5.784 * [backup-simplify]: Simplify phi1 into phi1
5.784 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
5.784 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
5.784 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
5.785 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
5.785 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
5.785 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
5.785 * [backup-simplify]: Simplify (- 0) into 0
5.785 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
5.785 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
5.785 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.785 * [backup-simplify]: Simplify lambda1 into lambda1
5.785 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
5.785 * [taylor]: Taking taylor expansion of phi2 in phi2
5.786 * [backup-simplify]: Simplify 0 into 0
5.786 * [backup-simplify]: Simplify 1 into 1
5.786 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
5.786 * [taylor]: Taking taylor expansion of 2 in phi2
5.786 * [backup-simplify]: Simplify 2 into 2
5.786 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
5.786 * [taylor]: Taking taylor expansion of phi2 in phi2
5.786 * [backup-simplify]: Simplify 0 into 0
5.786 * [backup-simplify]: Simplify 1 into 1
5.786 * [taylor]: Taking taylor expansion of phi1 in phi2
5.786 * [backup-simplify]: Simplify phi1 into phi1
5.786 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.786 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 4)
5.786 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.787 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2))
5.787 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.787 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.787 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.787 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.788 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
5.788 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.788 * [backup-simplify]: Simplify (* 0 phi1) into 0
5.789 * [backup-simplify]: Simplify (* 2 0) into 0
5.789 * [backup-simplify]: Simplify (- 0) into 0
5.790 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
5.791 * [backup-simplify]: Simplify (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
5.791 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
5.792 * [backup-simplify]: Simplify (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
5.793 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
5.795 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
5.796 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
5.797 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
5.797 * [taylor]: Taking taylor expansion of 1/2 in phi1
5.797 * [backup-simplify]: Simplify 1/2 into 1/2
5.797 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
5.797 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.797 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.797 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.797 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.797 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.797 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.797 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.797 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.797 * [backup-simplify]: Simplify 0.5 into 0.5
5.797 * [taylor]: Taking taylor expansion of phi1 in phi1
5.797 * [backup-simplify]: Simplify 0 into 0
5.797 * [backup-simplify]: Simplify 1 into 1
5.798 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.799 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.799 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.799 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.799 * [backup-simplify]: Simplify lambda1 into lambda1
5.799 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.799 * [taylor]: Taking taylor expansion of phi1 in phi1
5.799 * [backup-simplify]: Simplify 0 into 0
5.799 * [backup-simplify]: Simplify 1 into 1
5.800 * [backup-simplify]: Simplify (* 1 1) into 1
5.800 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.800 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.800 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.800 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
5.800 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
5.800 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.801 * [backup-simplify]: Simplify (+ 0) into 0
5.801 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.802 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
5.802 * [backup-simplify]: Simplify (+ 0 0) into 0
5.803 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
5.803 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
5.803 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.803 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.803 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.803 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.803 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.803 * [backup-simplify]: Simplify 0.5 into 0.5
5.803 * [taylor]: Taking taylor expansion of phi1 in phi1
5.803 * [backup-simplify]: Simplify 0 into 0
5.803 * [backup-simplify]: Simplify 1 into 1
5.803 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.805 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.805 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.805 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) in phi1
5.805 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 4) in phi1
5.805 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.805 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.805 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.805 * [backup-simplify]: Simplify 0.5 into 0.5
5.805 * [taylor]: Taking taylor expansion of phi1 in phi1
5.805 * [backup-simplify]: Simplify 0 into 0
5.805 * [backup-simplify]: Simplify 1 into 1
5.805 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.807 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.807 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.807 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.807 * [backup-simplify]: Simplify lambda1 into lambda1
5.807 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.807 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.807 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.807 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.807 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.807 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.807 * [backup-simplify]: Simplify 0.5 into 0.5
5.807 * [taylor]: Taking taylor expansion of phi1 in phi1
5.807 * [backup-simplify]: Simplify 0 into 0
5.807 * [backup-simplify]: Simplify 1 into 1
5.807 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.809 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.809 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.809 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.809 * [backup-simplify]: Simplify lambda1 into lambda1
5.809 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.809 * [taylor]: Taking taylor expansion of phi1 in phi1
5.809 * [backup-simplify]: Simplify 0 into 0
5.809 * [backup-simplify]: Simplify 1 into 1
5.809 * [backup-simplify]: Simplify (* 1 1) into 1
5.810 * [backup-simplify]: Simplify (* 1 1) into 1
5.810 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.810 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.810 * [backup-simplify]: Simplify (* 1 1) into 1
5.810 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.810 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.811 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.811 * [backup-simplify]: Simplify (/ (pow lambda1 2) (pow lambda1 2)) into 1
5.811 * [backup-simplify]: Simplify (* 1 1) into 1
5.812 * [backup-simplify]: Simplify (- 1) into -1
5.812 * [backup-simplify]: Simplify (+ 1 -1) into 0
5.812 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0
5.813 * [backup-simplify]: Simplify (* 1/2 0) into 0
5.813 * [taylor]: Taking taylor expansion of 0 in lambda1
5.813 * [backup-simplify]: Simplify 0 into 0
5.813 * [backup-simplify]: Simplify 0 into 0
5.813 * [backup-simplify]: Simplify (+ 0) into 0
5.814 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
5.814 * [backup-simplify]: Simplify (+ 1 0) into 1
5.815 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
5.817 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.817 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
5.817 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.817 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
5.818 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
5.818 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
5.822 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))
5.827 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (* 0 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) into (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))))
5.827 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))))) in phi1
5.827 * [taylor]: Taking taylor expansion of (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
5.827 * [taylor]: Taking taylor expansion of 1.0 in phi1
5.827 * [backup-simplify]: Simplify 1.0 into 1.0
5.827 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
5.827 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) in phi1
5.827 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.827 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.827 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.827 * [backup-simplify]: Simplify 0.5 into 0.5
5.827 * [taylor]: Taking taylor expansion of phi1 in phi1
5.827 * [backup-simplify]: Simplify 0 into 0
5.827 * [backup-simplify]: Simplify 1 into 1
5.828 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.829 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.829 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda1) in phi1
5.829 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
5.829 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.829 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.830 * [backup-simplify]: Simplify 0.5 into 0.5
5.830 * [taylor]: Taking taylor expansion of phi1 in phi1
5.830 * [backup-simplify]: Simplify 0 into 0
5.830 * [backup-simplify]: Simplify 1 into 1
5.830 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.831 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.831 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.831 * [backup-simplify]: Simplify lambda1 into lambda1
5.831 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.831 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.832 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.832 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.832 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.832 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.832 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.832 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.832 * [backup-simplify]: Simplify 0.5 into 0.5
5.832 * [taylor]: Taking taylor expansion of phi1 in phi1
5.832 * [backup-simplify]: Simplify 0 into 0
5.832 * [backup-simplify]: Simplify 1 into 1
5.832 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.833 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.834 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.834 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.834 * [backup-simplify]: Simplify lambda1 into lambda1
5.834 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.834 * [taylor]: Taking taylor expansion of phi1 in phi1
5.834 * [backup-simplify]: Simplify 0 into 0
5.834 * [backup-simplify]: Simplify 1 into 1
5.834 * [backup-simplify]: Simplify (* 1 1) into 1
5.834 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.834 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.834 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.835 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
5.835 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
5.835 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.835 * [backup-simplify]: Simplify (+ 0) into 0
5.836 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.836 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
5.837 * [backup-simplify]: Simplify (+ 0 0) into 0
5.837 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
5.837 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
5.837 * [taylor]: Taking taylor expansion of (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) in phi1
5.837 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1
5.837 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) in phi1
5.837 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.837 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.837 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.837 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.837 * [backup-simplify]: Simplify 0.5 into 0.5
5.838 * [taylor]: Taking taylor expansion of phi1 in phi1
5.838 * [backup-simplify]: Simplify 0 into 0
5.838 * [backup-simplify]: Simplify 1 into 1
5.838 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.839 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.839 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1
5.839 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.839 * [backup-simplify]: Simplify lambda1 into lambda1
5.839 * [taylor]: Taking taylor expansion of phi1 in phi1
5.839 * [backup-simplify]: Simplify 0 into 0
5.839 * [backup-simplify]: Simplify 1 into 1
5.839 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1
5.839 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1
5.839 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1
5.840 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.840 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.840 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.840 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.840 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.840 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.840 * [backup-simplify]: Simplify 0.5 into 0.5
5.840 * [taylor]: Taking taylor expansion of phi1 in phi1
5.840 * [backup-simplify]: Simplify 0 into 0
5.840 * [backup-simplify]: Simplify 1 into 1
5.840 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.842 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.842 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.842 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.842 * [backup-simplify]: Simplify lambda1 into lambda1
5.842 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.842 * [taylor]: Taking taylor expansion of phi1 in phi1
5.842 * [backup-simplify]: Simplify 0 into 0
5.842 * [backup-simplify]: Simplify 1 into 1
5.842 * [backup-simplify]: Simplify (* 1 1) into 1
5.842 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.843 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.843 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.843 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
5.844 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6)
5.844 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6))
5.844 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3))
5.844 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.845 * [backup-simplify]: Simplify (+ 0) into 0
5.846 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.846 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
5.847 * [backup-simplify]: Simplify (+ 0 0) into 0
5.847 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0
5.847 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0
5.847 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0
5.848 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0
5.848 * [taylor]: Taking taylor expansion of (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))) in phi1
5.848 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.848 * [backup-simplify]: Simplify 0.5 into 0.5
5.848 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1
5.848 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) in phi1
5.848 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 3) in phi1
5.848 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.848 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.848 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.848 * [backup-simplify]: Simplify 0.5 into 0.5
5.848 * [taylor]: Taking taylor expansion of phi1 in phi1
5.848 * [backup-simplify]: Simplify 0 into 0
5.848 * [backup-simplify]: Simplify 1 into 1
5.849 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.850 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.850 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 3)) in phi1
5.850 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
5.850 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.850 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.850 * [backup-simplify]: Simplify 0.5 into 0.5
5.850 * [taylor]: Taking taylor expansion of phi1 in phi1
5.850 * [backup-simplify]: Simplify 0 into 0
5.850 * [backup-simplify]: Simplify 1 into 1
5.851 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.852 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.852 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1
5.852 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.852 * [backup-simplify]: Simplify lambda1 into lambda1
5.852 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1
5.853 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1
5.853 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1
5.853 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.853 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.853 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.853 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.853 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.853 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.853 * [backup-simplify]: Simplify 0.5 into 0.5
5.853 * [taylor]: Taking taylor expansion of phi1 in phi1
5.853 * [backup-simplify]: Simplify 0 into 0
5.853 * [backup-simplify]: Simplify 1 into 1
5.853 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.855 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.855 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.855 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.855 * [backup-simplify]: Simplify lambda1 into lambda1
5.855 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.855 * [taylor]: Taking taylor expansion of phi1 in phi1
5.855 * [backup-simplify]: Simplify 0 into 0
5.855 * [backup-simplify]: Simplify 1 into 1
5.855 * [backup-simplify]: Simplify (* 1 1) into 1
5.856 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.856 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.856 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.856 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
5.856 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6)
5.857 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6))
5.857 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3))
5.857 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.857 * [backup-simplify]: Simplify (+ 0) into 0
5.858 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.859 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
5.859 * [backup-simplify]: Simplify (+ 0 0) into 0
5.859 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0
5.859 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0
5.860 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0
5.860 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0
5.860 * [backup-simplify]: Simplify (* 0 lambda1) into 0
5.861 * [backup-simplify]: Simplify (* 1 0) into 0
5.861 * [backup-simplify]: Simplify (* 0 (/ 1 lambda1)) into 0
5.861 * [backup-simplify]: Simplify (* 1.0 0) into 0
5.862 * [backup-simplify]: Simplify (* 1 1) into 1
5.862 * [backup-simplify]: Simplify (* lambda1 0) into 0
5.862 * [backup-simplify]: Simplify (* 1 0) into 0
5.862 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0
5.863 * [backup-simplify]: Simplify (* 1 1) into 1
5.863 * [backup-simplify]: Simplify (* 1 1) into 1
5.863 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.863 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
5.863 * [backup-simplify]: Simplify (* 0 (pow lambda1 3)) into 0
5.864 * [backup-simplify]: Simplify (* 1 0) into 0
5.864 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0
5.864 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.865 * [backup-simplify]: Simplify (+ 0 0) into 0
5.865 * [backup-simplify]: Simplify (- 0) into 0
5.865 * [backup-simplify]: Simplify (+ 0 0) into 0
5.865 * [taylor]: Taking taylor expansion of 0 in lambda1
5.865 * [backup-simplify]: Simplify 0 into 0
5.865 * [backup-simplify]: Simplify 0 into 0
5.866 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
5.866 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
5.867 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
5.868 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
5.868 * [backup-simplify]: Simplify (+ 0 0) into 0
5.869 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
5.869 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
5.870 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
5.870 * [backup-simplify]: Simplify (- 0) into 0
5.870 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
5.871 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2)))
5.872 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) (pow lambda1 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
5.872 * [backup-simplify]: Simplify (* 1 1) into 1
5.872 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 1) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
5.873 * [backup-simplify]: Simplify (+ 0 (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
5.874 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
5.874 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0
5.874 * [backup-simplify]: Simplify (- 0) into 0
5.875 * [backup-simplify]: Simplify (+ (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 0) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
5.878 * [backup-simplify]: Simplify (/ (- (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (pow (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) 2) (+)) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
5.878 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
5.878 * [taylor]: Taking taylor expansion of 1/2 in phi1
5.878 * [backup-simplify]: Simplify 1/2 into 1/2
5.878 * [taylor]: Taking taylor expansion of (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
5.878 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) in phi1
5.878 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) in phi1
5.878 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
5.878 * [taylor]: Taking taylor expansion of 0.25 in phi1
5.878 * [backup-simplify]: Simplify 0.25 into 0.25
5.878 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.878 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
5.878 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
5.878 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.878 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.878 * [backup-simplify]: Simplify 0.5 into 0.5
5.878 * [taylor]: Taking taylor expansion of phi1 in phi1
5.878 * [backup-simplify]: Simplify 0 into 0
5.878 * [backup-simplify]: Simplify 1 into 1
5.878 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.880 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.882 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.882 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.882 * [backup-simplify]: Simplify lambda1 into lambda1
5.882 * [taylor]: Taking taylor expansion of 1 in phi1
5.882 * [backup-simplify]: Simplify 1 into 1
5.882 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) in phi1
5.882 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.882 * [taylor]: Taking taylor expansion of 1.0 in phi1
5.882 * [backup-simplify]: Simplify 1.0 into 1.0
5.882 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.882 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1
5.883 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.883 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.883 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.883 * [backup-simplify]: Simplify 0.5 into 0.5
5.883 * [taylor]: Taking taylor expansion of phi1 in phi1
5.883 * [backup-simplify]: Simplify 0 into 0
5.883 * [backup-simplify]: Simplify 1 into 1
5.883 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.884 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.884 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1
5.884 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
5.884 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.884 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.885 * [backup-simplify]: Simplify 0.5 into 0.5
5.885 * [taylor]: Taking taylor expansion of phi1 in phi1
5.885 * [backup-simplify]: Simplify 0 into 0
5.885 * [backup-simplify]: Simplify 1 into 1
5.885 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.886 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.886 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1
5.886 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.886 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.886 * [backup-simplify]: Simplify lambda1 into lambda1
5.886 * [taylor]: Taking taylor expansion of phi1 in phi1
5.886 * [backup-simplify]: Simplify 0 into 0
5.886 * [backup-simplify]: Simplify 1 into 1
5.886 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.887 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.887 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.887 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.887 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.887 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.887 * [backup-simplify]: Simplify 0.5 into 0.5
5.887 * [taylor]: Taking taylor expansion of phi1 in phi1
5.887 * [backup-simplify]: Simplify 0 into 0
5.887 * [backup-simplify]: Simplify 1 into 1
5.887 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.888 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.888 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.888 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.889 * [backup-simplify]: Simplify lambda1 into lambda1
5.889 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.889 * [taylor]: Taking taylor expansion of phi1 in phi1
5.889 * [backup-simplify]: Simplify 0 into 0
5.889 * [backup-simplify]: Simplify 1 into 1
5.889 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.889 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0
5.889 * [backup-simplify]: Simplify (* 0 0) into 0
5.890 * [backup-simplify]: Simplify (* 1 0) into 0
5.890 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.890 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2)
5.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.893 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0
5.893 * [backup-simplify]: Simplify (+ 0) into 0
5.894 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0
5.895 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
5.895 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0
5.896 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
5.897 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
5.898 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2))
5.901 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
5.902 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2))
5.902 * [backup-simplify]: Simplify (* 1 1) into 1
5.902 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.902 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.903 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.903 * [backup-simplify]: Simplify (/ (* 0.5 (pow lambda1 2)) (pow lambda1 2)) into 0.5
5.903 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
5.903 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
5.903 * [taylor]: Taking taylor expansion of 0.25 in phi1
5.903 * [backup-simplify]: Simplify 0.25 into 0.25
5.903 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.903 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.903 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.903 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.903 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.903 * [backup-simplify]: Simplify 0.5 into 0.5
5.903 * [taylor]: Taking taylor expansion of phi1 in phi1
5.903 * [backup-simplify]: Simplify 0 into 0
5.903 * [backup-simplify]: Simplify 1 into 1
5.904 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.905 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.905 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.905 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.905 * [backup-simplify]: Simplify lambda1 into lambda1
5.905 * [taylor]: Taking taylor expansion of (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
5.905 * [taylor]: Taking taylor expansion of (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.905 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.905 * [taylor]: Taking taylor expansion of phi1 in phi1
5.905 * [backup-simplify]: Simplify 0 into 0
5.905 * [backup-simplify]: Simplify 1 into 1
5.905 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.905 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.905 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.905 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.905 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.905 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.905 * [backup-simplify]: Simplify 0.5 into 0.5
5.905 * [taylor]: Taking taylor expansion of phi1 in phi1
5.905 * [backup-simplify]: Simplify 0 into 0
5.905 * [backup-simplify]: Simplify 1 into 1
5.906 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.907 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.907 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.907 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.907 * [backup-simplify]: Simplify lambda1 into lambda1
5.907 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.907 * [taylor]: Taking taylor expansion of phi1 in phi1
5.907 * [backup-simplify]: Simplify 0 into 0
5.907 * [backup-simplify]: Simplify 1 into 1
5.908 * [backup-simplify]: Simplify (* 1 1) into 1
5.908 * [backup-simplify]: Simplify (* 1 1) into 1
5.908 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.908 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.908 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.908 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
5.909 * [taylor]: Taking taylor expansion of (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.909 * [taylor]: Taking taylor expansion of 0.25 in phi1
5.909 * [backup-simplify]: Simplify 0.25 into 0.25
5.909 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.909 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1
5.909 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.909 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.909 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.909 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.909 * [backup-simplify]: Simplify 0.5 into 0.5
5.909 * [taylor]: Taking taylor expansion of phi1 in phi1
5.909 * [backup-simplify]: Simplify 0 into 0
5.909 * [backup-simplify]: Simplify 1 into 1
5.909 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.911 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.911 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1
5.911 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
5.911 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
5.911 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.911 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.911 * [backup-simplify]: Simplify 0.5 into 0.5
5.911 * [taylor]: Taking taylor expansion of phi1 in phi1
5.911 * [backup-simplify]: Simplify 0 into 0
5.911 * [backup-simplify]: Simplify 1 into 1
5.911 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.912 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.915 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1
5.915 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.915 * [backup-simplify]: Simplify lambda1 into lambda1
5.915 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.915 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.915 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.915 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.915 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.915 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.915 * [backup-simplify]: Simplify 0.5 into 0.5
5.915 * [taylor]: Taking taylor expansion of phi1 in phi1
5.915 * [backup-simplify]: Simplify 0 into 0
5.915 * [backup-simplify]: Simplify 1 into 1
5.915 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.921 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.921 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.921 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.921 * [backup-simplify]: Simplify lambda1 into lambda1
5.921 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.921 * [taylor]: Taking taylor expansion of phi1 in phi1
5.921 * [backup-simplify]: Simplify 0 into 0
5.922 * [backup-simplify]: Simplify 1 into 1
5.922 * [backup-simplify]: Simplify (* 1 1) into 1
5.922 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25
5.922 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.923 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
5.923 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4))
5.923 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4))
5.923 * [backup-simplify]: Simplify (* 1 1) into 1
5.924 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.924 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.924 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.924 * [backup-simplify]: Simplify (/ (* 0.25 (pow lambda1 4)) (pow lambda1 2)) into (* 0.25 (pow lambda1 2))
5.924 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
5.924 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
5.924 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
5.924 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
5.924 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
5.924 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
5.924 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
5.924 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.924 * [backup-simplify]: Simplify 0.5 into 0.5
5.924 * [taylor]: Taking taylor expansion of phi1 in phi1
5.924 * [backup-simplify]: Simplify 0 into 0
5.924 * [backup-simplify]: Simplify 1 into 1
5.925 * [backup-simplify]: Simplify (* 0.5 0) into 0
5.926 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
5.926 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.926 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.926 * [backup-simplify]: Simplify lambda1 into lambda1
5.926 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.926 * [taylor]: Taking taylor expansion of phi1 in phi1
5.926 * [backup-simplify]: Simplify 0 into 0
5.926 * [backup-simplify]: Simplify 1 into 1
5.927 * [backup-simplify]: Simplify (* 1 1) into 1
5.927 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.927 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.927 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
5.927 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
5.927 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
5.927 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.928 * [backup-simplify]: Simplify (+ 0) into 0
5.928 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.929 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
5.929 * [backup-simplify]: Simplify (+ 0 0) into 0
5.930 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
5.930 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
5.930 * [backup-simplify]: Simplify (+ 0 1) into 1
5.931 * [backup-simplify]: Simplify (* 1 1) into 1
5.931 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.931 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
5.931 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2))
5.931 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2))
5.931 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2))
5.931 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2)))
5.932 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda1 2)))) into (- 1 (* 0.25 (pow lambda1 2)))
5.932 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda1 2))) (/ 1 lambda1)) into (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)
5.932 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1))
5.932 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1
5.932 * [taylor]: Taking taylor expansion of 1/2 in lambda1
5.932 * [backup-simplify]: Simplify 1/2 into 1/2
5.932 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1
5.932 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1
5.932 * [taylor]: Taking taylor expansion of 1 in lambda1
5.932 * [backup-simplify]: Simplify 1 into 1
5.932 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
5.932 * [taylor]: Taking taylor expansion of 0.25 in lambda1
5.932 * [backup-simplify]: Simplify 0.25 into 0.25
5.932 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
5.932 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.932 * [backup-simplify]: Simplify 0 into 0
5.932 * [backup-simplify]: Simplify 1 into 1
5.933 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.933 * [backup-simplify]: Simplify 0 into 0
5.933 * [backup-simplify]: Simplify 1 into 1
5.933 * [backup-simplify]: Simplify (+ 1 0) into 1
5.933 * [backup-simplify]: Simplify (/ 1 1) into 1
5.933 * [backup-simplify]: Simplify (+ 0 0) into 0
5.934 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
5.934 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
5.934 * [backup-simplify]: Simplify 0 into 0
5.934 * [backup-simplify]: Simplify (+ 0) into 0
5.935 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.935 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
5.935 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (/ 1 lambda1))) into 0
5.936 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 1)) into 0
5.936 * [taylor]: Taking taylor expansion of 0 in lambda1
5.936 * [backup-simplify]: Simplify 0 into 0
5.936 * [backup-simplify]: Simplify 0 into 0
5.936 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
5.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
5.938 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2))
5.938 * [backup-simplify]: Simplify (+ 0) into 0
5.938 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
5.939 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
5.939 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2
5.939 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) 2) into (+ (* 0.5 (pow lambda1 2)) 2)
5.940 * [backup-simplify]: Simplify (+ (* (/ 1 lambda1) (+ (* 0.5 (pow lambda1 2)) 2)) (* 0 0)) into (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1))
5.940 * [backup-simplify]: Simplify (+ (* -1/2 (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1))) (* 0 0)) into (- (+ (/ 1 lambda1) (* 0.25 lambda1)))
5.940 * [taylor]: Taking taylor expansion of (- (+ (/ 1 lambda1) (* 0.25 lambda1))) in lambda1
5.940 * [taylor]: Taking taylor expansion of (+ (/ 1 lambda1) (* 0.25 lambda1)) in lambda1
5.940 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
5.940 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.940 * [backup-simplify]: Simplify 0 into 0
5.940 * [backup-simplify]: Simplify 1 into 1
5.940 * [backup-simplify]: Simplify (/ 1 1) into 1
5.940 * [taylor]: Taking taylor expansion of (* 0.25 lambda1) in lambda1
5.940 * [taylor]: Taking taylor expansion of 0.25 in lambda1
5.940 * [backup-simplify]: Simplify 0.25 into 0.25
5.940 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.941 * [backup-simplify]: Simplify 0 into 0
5.941 * [backup-simplify]: Simplify 1 into 1
5.941 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
5.941 * [backup-simplify]: Simplify (* 0.25 0) into 0
5.941 * [backup-simplify]: Simplify (+ 0 0) into 0
5.942 * [backup-simplify]: Simplify (- 0) into 0
5.942 * [backup-simplify]: Simplify 0 into 0
5.942 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
5.944 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
5.946 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25)
5.947 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2)))
5.947 * [backup-simplify]: Simplify (* 1 1) into 1
5.947 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2)))
5.948 * [backup-simplify]: Simplify (/ (- (- 1 (* 0.25 (pow lambda1 2))) (pow 0 2) (+)) (* 2 lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1))
5.948 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1
5.948 * [taylor]: Taking taylor expansion of 1/2 in lambda1
5.948 * [backup-simplify]: Simplify 1/2 into 1/2
5.948 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1
5.948 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1
5.948 * [taylor]: Taking taylor expansion of 1 in lambda1
5.948 * [backup-simplify]: Simplify 1 into 1
5.948 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
5.948 * [taylor]: Taking taylor expansion of 0.25 in lambda1
5.948 * [backup-simplify]: Simplify 0.25 into 0.25
5.948 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
5.948 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.948 * [backup-simplify]: Simplify 0 into 0
5.948 * [backup-simplify]: Simplify 1 into 1
5.948 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.948 * [backup-simplify]: Simplify 0 into 0
5.948 * [backup-simplify]: Simplify 1 into 1
5.948 * [backup-simplify]: Simplify (+ 1 0) into 1
5.949 * [backup-simplify]: Simplify (/ 1 1) into 1
5.949 * [backup-simplify]: Simplify (+ 0 0) into 0
5.949 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
5.950 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
5.950 * [backup-simplify]: Simplify 0 into 0
5.950 * [backup-simplify]: Simplify (+ (* 1 (* lambda1 (* 1 (* 1 1)))) (* -1 (* 1 (* 1 (* 1 lambda2))))) into (- lambda1 lambda2)
5.952 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 lambda2) 2) (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (pow (/ 1 lambda1) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))))
5.952 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda2 phi2 phi1 lambda1) around 0
5.952 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1
5.952 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1
5.952 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda1
5.952 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
5.952 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
5.952 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
5.952 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
5.952 * [taylor]: Taking taylor expansion of 0.5 in lambda1
5.952 * [backup-simplify]: Simplify 0.5 into 0.5
5.952 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
5.952 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
5.952 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.952 * [backup-simplify]: Simplify phi1 into phi1
5.952 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.952 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
5.952 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.952 * [backup-simplify]: Simplify phi2 into phi2
5.952 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.952 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
5.952 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
5.952 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.953 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.953 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.953 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
5.953 * [backup-simplify]: Simplify (- 0) into 0
5.953 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.953 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
5.953 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.953 * [backup-simplify]: Simplify 0 into 0
5.953 * [backup-simplify]: Simplify 1 into 1
5.953 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.954 * [backup-simplify]: Simplify (* 1 1) into 1
5.954 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.954 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda1
5.954 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
5.954 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
5.954 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.954 * [backup-simplify]: Simplify phi2 into phi2
5.954 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
5.954 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
5.954 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda1
5.954 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1
5.954 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
5.954 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
5.954 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
5.954 * [taylor]: Taking taylor expansion of 0.5 in lambda1
5.954 * [backup-simplify]: Simplify 0.5 into 0.5
5.954 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
5.954 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
5.954 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.954 * [backup-simplify]: Simplify phi1 into phi1
5.954 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.954 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
5.954 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.954 * [backup-simplify]: Simplify phi2 into phi2
5.955 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.955 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
5.955 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
5.955 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.955 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.955 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.955 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
5.955 * [backup-simplify]: Simplify (- 0) into 0
5.956 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.956 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
5.956 * [taylor]: Taking taylor expansion of lambda2 in lambda1
5.956 * [backup-simplify]: Simplify lambda2 into lambda2
5.956 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.956 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
5.956 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
5.956 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
5.956 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
5.956 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.956 * [backup-simplify]: Simplify phi1 into phi1
5.956 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.956 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
5.956 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1
5.956 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
5.956 * [taylor]: Taking taylor expansion of 2 in lambda1
5.956 * [backup-simplify]: Simplify 2 into 2
5.956 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
5.956 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
5.956 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
5.957 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
5.957 * [taylor]: Taking taylor expansion of 0.5 in lambda1
5.957 * [backup-simplify]: Simplify 0.5 into 0.5
5.957 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
5.957 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
5.957 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.957 * [backup-simplify]: Simplify phi1 into phi1
5.957 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.957 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
5.957 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.957 * [backup-simplify]: Simplify phi2 into phi2
5.957 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.957 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
5.957 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
5.957 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.957 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.957 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.957 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
5.958 * [backup-simplify]: Simplify (- 0) into 0
5.958 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.958 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
5.958 * [taylor]: Taking taylor expansion of lambda2 in lambda1
5.958 * [backup-simplify]: Simplify lambda2 into lambda2
5.958 * [taylor]: Taking taylor expansion of lambda1 in lambda1
5.958 * [backup-simplify]: Simplify 0 into 0
5.958 * [backup-simplify]: Simplify 1 into 1
5.958 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.958 * [backup-simplify]: Simplify (* lambda2 0) into 0
5.958 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
5.959 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
5.959 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
5.959 * [taylor]: Taking taylor expansion of 2 in lambda1
5.959 * [backup-simplify]: Simplify 2 into 2
5.959 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
5.959 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
5.959 * [taylor]: Taking taylor expansion of phi2 in lambda1
5.959 * [backup-simplify]: Simplify phi2 into phi2
5.959 * [taylor]: Taking taylor expansion of phi1 in lambda1
5.959 * [backup-simplify]: Simplify phi1 into phi1
5.959 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
5.959 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
5.959 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.959 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.959 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.960 * [backup-simplify]: Simplify (+ 0) into 0
5.960 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
5.960 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
5.960 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
5.961 * [backup-simplify]: Simplify (+ 0 0) into 0
5.961 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
5.961 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
5.962 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
5.962 * [backup-simplify]: Simplify (- 0) into 0
5.962 * [backup-simplify]: Simplify (+ 0 0) into 0
5.962 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
5.963 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.964 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
5.964 * [backup-simplify]: Simplify (+ 0 0) into 0
5.964 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
5.964 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
5.965 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
5.965 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
5.965 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
5.965 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1
5.965 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1
5.966 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi1
5.966 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
5.966 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
5.966 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
5.966 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
5.966 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.966 * [backup-simplify]: Simplify 0.5 into 0.5
5.966 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
5.966 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
5.966 * [taylor]: Taking taylor expansion of phi1 in phi1
5.966 * [backup-simplify]: Simplify 0 into 0
5.966 * [backup-simplify]: Simplify 1 into 1
5.966 * [backup-simplify]: Simplify (/ 1 1) into 1
5.966 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
5.966 * [taylor]: Taking taylor expansion of phi2 in phi1
5.966 * [backup-simplify]: Simplify phi2 into phi2
5.966 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.966 * [backup-simplify]: Simplify (+ 1 0) into 1
5.967 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
5.967 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.967 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
5.967 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.967 * [backup-simplify]: Simplify lambda1 into lambda1
5.967 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.967 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.967 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
5.967 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi1
5.967 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
5.967 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
5.967 * [taylor]: Taking taylor expansion of phi2 in phi1
5.967 * [backup-simplify]: Simplify phi2 into phi2
5.967 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
5.968 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
5.968 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi1
5.968 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1
5.968 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
5.968 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
5.968 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
5.968 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.968 * [backup-simplify]: Simplify 0.5 into 0.5
5.968 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
5.968 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
5.968 * [taylor]: Taking taylor expansion of phi1 in phi1
5.968 * [backup-simplify]: Simplify 0 into 0
5.968 * [backup-simplify]: Simplify 1 into 1
5.968 * [backup-simplify]: Simplify (/ 1 1) into 1
5.968 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
5.968 * [taylor]: Taking taylor expansion of phi2 in phi1
5.968 * [backup-simplify]: Simplify phi2 into phi2
5.968 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.968 * [backup-simplify]: Simplify (+ 1 0) into 1
5.969 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
5.969 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.969 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
5.969 * [taylor]: Taking taylor expansion of lambda2 in phi1
5.969 * [backup-simplify]: Simplify lambda2 into lambda2
5.969 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.969 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
5.969 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
5.969 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
5.969 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
5.969 * [taylor]: Taking taylor expansion of phi1 in phi1
5.969 * [backup-simplify]: Simplify 0 into 0
5.969 * [backup-simplify]: Simplify 1 into 1
5.970 * [backup-simplify]: Simplify (* 1 1) into 1
5.970 * [backup-simplify]: Simplify (/ 1 1) into 1
5.970 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1
5.970 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
5.970 * [taylor]: Taking taylor expansion of 2 in phi1
5.970 * [backup-simplify]: Simplify 2 into 2
5.970 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
5.970 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
5.970 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
5.970 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
5.970 * [taylor]: Taking taylor expansion of 0.5 in phi1
5.970 * [backup-simplify]: Simplify 0.5 into 0.5
5.970 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
5.970 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
5.970 * [taylor]: Taking taylor expansion of phi1 in phi1
5.970 * [backup-simplify]: Simplify 0 into 0
5.970 * [backup-simplify]: Simplify 1 into 1
5.970 * [backup-simplify]: Simplify (/ 1 1) into 1
5.970 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
5.971 * [taylor]: Taking taylor expansion of phi2 in phi1
5.971 * [backup-simplify]: Simplify phi2 into phi2
5.971 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.971 * [backup-simplify]: Simplify (+ 1 0) into 1
5.971 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
5.971 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.971 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
5.971 * [taylor]: Taking taylor expansion of lambda2 in phi1
5.971 * [backup-simplify]: Simplify lambda2 into lambda2
5.971 * [taylor]: Taking taylor expansion of lambda1 in phi1
5.971 * [backup-simplify]: Simplify lambda1 into lambda1
5.972 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.972 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
5.972 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
5.972 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
5.972 * [taylor]: Taking taylor expansion of 2 in phi1
5.972 * [backup-simplify]: Simplify 2 into 2
5.972 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
5.972 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
5.972 * [taylor]: Taking taylor expansion of phi2 in phi1
5.972 * [backup-simplify]: Simplify phi2 into phi2
5.972 * [taylor]: Taking taylor expansion of phi1 in phi1
5.972 * [backup-simplify]: Simplify 0 into 0
5.972 * [backup-simplify]: Simplify 1 into 1
5.972 * [backup-simplify]: Simplify (* phi2 0) into 0
5.973 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
5.973 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.973 * [backup-simplify]: Simplify (+ 0 1) into 1
5.973 * [backup-simplify]: Simplify (+ 0 1) into 1
5.974 * [backup-simplify]: Simplify (+ 0 1) into 1
5.974 * [backup-simplify]: Simplify (+ 1 0) into 1
5.974 * [backup-simplify]: Simplify (sqrt 1) into 1
5.975 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.976 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
5.976 * [backup-simplify]: Simplify (+ 0 0) into 0
5.976 * [backup-simplify]: Simplify (+ 0 0) into 0
5.977 * [backup-simplify]: Simplify (+ 0 0) into 0
5.977 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
5.977 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2))
5.977 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2)))
5.977 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
5.978 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
5.978 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2
5.978 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2
5.978 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in phi2
5.978 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
5.978 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
5.978 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
5.978 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
5.978 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.978 * [backup-simplify]: Simplify 0.5 into 0.5
5.978 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
5.978 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
5.978 * [taylor]: Taking taylor expansion of phi1 in phi2
5.978 * [backup-simplify]: Simplify phi1 into phi1
5.978 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.978 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
5.978 * [taylor]: Taking taylor expansion of phi2 in phi2
5.978 * [backup-simplify]: Simplify 0 into 0
5.978 * [backup-simplify]: Simplify 1 into 1
5.978 * [backup-simplify]: Simplify (/ 1 1) into 1
5.979 * [backup-simplify]: Simplify (+ 0 1) into 1
5.979 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
5.979 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.979 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
5.979 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.980 * [backup-simplify]: Simplify lambda1 into lambda1
5.980 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.980 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.980 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
5.980 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in phi2
5.980 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
5.980 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
5.980 * [taylor]: Taking taylor expansion of phi2 in phi2
5.980 * [backup-simplify]: Simplify 0 into 0
5.981 * [backup-simplify]: Simplify 1 into 1
5.981 * [backup-simplify]: Simplify (* 1 1) into 1
5.981 * [backup-simplify]: Simplify (/ 1 1) into 1
5.981 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in phi2
5.981 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2
5.981 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
5.981 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
5.982 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
5.982 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.982 * [backup-simplify]: Simplify 0.5 into 0.5
5.982 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
5.982 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
5.982 * [taylor]: Taking taylor expansion of phi1 in phi2
5.982 * [backup-simplify]: Simplify phi1 into phi1
5.982 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.982 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
5.982 * [taylor]: Taking taylor expansion of phi2 in phi2
5.982 * [backup-simplify]: Simplify 0 into 0
5.982 * [backup-simplify]: Simplify 1 into 1
5.982 * [backup-simplify]: Simplify (/ 1 1) into 1
5.983 * [backup-simplify]: Simplify (+ 0 1) into 1
5.983 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
5.983 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.983 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
5.983 * [taylor]: Taking taylor expansion of lambda2 in phi2
5.983 * [backup-simplify]: Simplify lambda2 into lambda2
5.984 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.984 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
5.984 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
5.984 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
5.984 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
5.984 * [taylor]: Taking taylor expansion of phi1 in phi2
5.984 * [backup-simplify]: Simplify phi1 into phi1
5.984 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
5.985 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
5.985 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2
5.985 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
5.985 * [taylor]: Taking taylor expansion of 2 in phi2
5.985 * [backup-simplify]: Simplify 2 into 2
5.985 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
5.985 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
5.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
5.985 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
5.985 * [taylor]: Taking taylor expansion of 0.5 in phi2
5.985 * [backup-simplify]: Simplify 0.5 into 0.5
5.985 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
5.985 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
5.985 * [taylor]: Taking taylor expansion of phi1 in phi2
5.985 * [backup-simplify]: Simplify phi1 into phi1
5.985 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.985 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
5.985 * [taylor]: Taking taylor expansion of phi2 in phi2
5.985 * [backup-simplify]: Simplify 0 into 0
5.985 * [backup-simplify]: Simplify 1 into 1
5.986 * [backup-simplify]: Simplify (/ 1 1) into 1
5.986 * [backup-simplify]: Simplify (+ 0 1) into 1
5.987 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
5.987 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.987 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
5.987 * [taylor]: Taking taylor expansion of lambda2 in phi2
5.987 * [backup-simplify]: Simplify lambda2 into lambda2
5.987 * [taylor]: Taking taylor expansion of lambda1 in phi2
5.987 * [backup-simplify]: Simplify lambda1 into lambda1
5.988 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.988 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
5.988 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
5.988 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
5.988 * [taylor]: Taking taylor expansion of 2 in phi2
5.988 * [backup-simplify]: Simplify 2 into 2
5.988 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
5.988 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
5.988 * [taylor]: Taking taylor expansion of phi2 in phi2
5.988 * [backup-simplify]: Simplify 0 into 0
5.988 * [backup-simplify]: Simplify 1 into 1
5.988 * [taylor]: Taking taylor expansion of phi1 in phi2
5.988 * [backup-simplify]: Simplify phi1 into phi1
5.988 * [backup-simplify]: Simplify (* 0 phi1) into 0
5.989 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
5.989 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.989 * [backup-simplify]: Simplify (+ 1 0) into 1
5.990 * [backup-simplify]: Simplify (+ 0 1) into 1
5.990 * [backup-simplify]: Simplify (+ 1 0) into 1
5.991 * [backup-simplify]: Simplify (sqrt 1) into 1
5.991 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
5.992 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
5.992 * [backup-simplify]: Simplify (+ 0 0) into 0
5.993 * [backup-simplify]: Simplify (+ 0 0) into 0
5.993 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
5.993 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1))
5.993 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
5.993 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
5.994 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
5.994 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2
5.994 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2
5.994 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2
5.994 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
5.994 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
5.994 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
5.994 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
5.994 * [taylor]: Taking taylor expansion of 0.5 in lambda2
5.994 * [backup-simplify]: Simplify 0.5 into 0.5
5.994 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
5.994 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
5.994 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.994 * [backup-simplify]: Simplify phi1 into phi1
5.994 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.994 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
5.994 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.994 * [backup-simplify]: Simplify phi2 into phi2
5.995 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.995 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
5.995 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
5.995 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.995 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.995 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.996 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
5.996 * [backup-simplify]: Simplify (- 0) into 0
5.996 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.996 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
5.996 * [taylor]: Taking taylor expansion of lambda1 in lambda2
5.996 * [backup-simplify]: Simplify lambda1 into lambda1
5.997 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
5.997 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
5.997 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
5.997 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2
5.997 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
5.997 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
5.997 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.997 * [backup-simplify]: Simplify phi2 into phi2
5.997 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
5.998 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
5.998 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2
5.998 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2
5.998 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
5.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
5.998 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
5.998 * [taylor]: Taking taylor expansion of 0.5 in lambda2
5.998 * [backup-simplify]: Simplify 0.5 into 0.5
5.998 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
5.998 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
5.998 * [taylor]: Taking taylor expansion of phi1 in lambda2
5.998 * [backup-simplify]: Simplify phi1 into phi1
5.998 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
5.998 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
5.998 * [taylor]: Taking taylor expansion of phi2 in lambda2
5.998 * [backup-simplify]: Simplify phi2 into phi2
5.998 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
5.998 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
5.998 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
5.998 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.999 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.999 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
5.999 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
5.999 * [backup-simplify]: Simplify (- 0) into 0
6.000 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.000 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
6.000 * [taylor]: Taking taylor expansion of lambda2 in lambda2
6.000 * [backup-simplify]: Simplify 0 into 0
6.000 * [backup-simplify]: Simplify 1 into 1
6.000 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.000 * [backup-simplify]: Simplify (* 1 1) into 1
6.001 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.001 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
6.001 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
6.001 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.001 * [backup-simplify]: Simplify phi1 into phi1
6.001 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.001 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
6.001 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2
6.001 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
6.001 * [taylor]: Taking taylor expansion of 2 in lambda2
6.001 * [backup-simplify]: Simplify 2 into 2
6.001 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
6.001 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.001 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.001 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.001 * [taylor]: Taking taylor expansion of 0.5 in lambda2
6.001 * [backup-simplify]: Simplify 0.5 into 0.5
6.001 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.001 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.001 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.001 * [backup-simplify]: Simplify phi1 into phi1
6.001 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.002 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.002 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.002 * [backup-simplify]: Simplify phi2 into phi2
6.002 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.002 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.002 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.002 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.002 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.002 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.003 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.003 * [backup-simplify]: Simplify (- 0) into 0
6.003 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.003 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
6.003 * [taylor]: Taking taylor expansion of lambda2 in lambda2
6.003 * [backup-simplify]: Simplify 0 into 0
6.003 * [backup-simplify]: Simplify 1 into 1
6.003 * [taylor]: Taking taylor expansion of lambda1 in lambda2
6.003 * [backup-simplify]: Simplify lambda1 into lambda1
6.004 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.004 * [backup-simplify]: Simplify (* 0 lambda1) into 0
6.004 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
6.004 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
6.004 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
6.005 * [taylor]: Taking taylor expansion of 2 in lambda2
6.005 * [backup-simplify]: Simplify 2 into 2
6.005 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
6.005 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
6.005 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.005 * [backup-simplify]: Simplify phi2 into phi2
6.005 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.005 * [backup-simplify]: Simplify phi1 into phi1
6.005 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
6.005 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
6.005 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.005 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.006 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.006 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.006 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.007 * [backup-simplify]: Simplify (+ 0) into 0
6.007 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.008 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.008 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.008 * [backup-simplify]: Simplify (+ 0 0) into 0
6.009 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.009 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.010 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.010 * [backup-simplify]: Simplify (- 0) into 0
6.011 * [backup-simplify]: Simplify (+ 0 0) into 0
6.011 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.012 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.013 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
6.013 * [backup-simplify]: Simplify (+ 0 0) into 0
6.014 * [backup-simplify]: Simplify (+ 0 0) into 0
6.014 * [backup-simplify]: Simplify (+ 0 0) into 0
6.014 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
6.015 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
6.015 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
6.016 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
6.017 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.017 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2
6.017 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2
6.017 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))))) in lambda2
6.017 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
6.017 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.017 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.017 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.017 * [taylor]: Taking taylor expansion of 0.5 in lambda2
6.017 * [backup-simplify]: Simplify 0.5 into 0.5
6.017 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.017 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.017 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.017 * [backup-simplify]: Simplify phi1 into phi1
6.017 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.017 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.017 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.017 * [backup-simplify]: Simplify phi2 into phi2
6.017 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.017 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.017 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.018 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.018 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.018 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.018 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.019 * [backup-simplify]: Simplify (- 0) into 0
6.019 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.019 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
6.019 * [taylor]: Taking taylor expansion of lambda1 in lambda2
6.019 * [backup-simplify]: Simplify lambda1 into lambda1
6.019 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.019 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
6.020 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
6.020 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2)))) in lambda2
6.020 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
6.020 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
6.020 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.020 * [backup-simplify]: Simplify phi2 into phi2
6.020 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
6.020 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
6.020 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (/ 1 (pow phi1 2))) in lambda2
6.020 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2
6.020 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.020 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.020 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.020 * [taylor]: Taking taylor expansion of 0.5 in lambda2
6.020 * [backup-simplify]: Simplify 0.5 into 0.5
6.020 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.020 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.020 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.020 * [backup-simplify]: Simplify phi1 into phi1
6.020 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.020 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.021 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.021 * [backup-simplify]: Simplify phi2 into phi2
6.021 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.021 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.021 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.021 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.021 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.021 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.022 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.022 * [backup-simplify]: Simplify (- 0) into 0
6.023 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.023 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
6.023 * [taylor]: Taking taylor expansion of lambda2 in lambda2
6.023 * [backup-simplify]: Simplify 0 into 0
6.023 * [backup-simplify]: Simplify 1 into 1
6.023 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.023 * [backup-simplify]: Simplify (* 1 1) into 1
6.024 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.024 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
6.024 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
6.024 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.024 * [backup-simplify]: Simplify phi1 into phi1
6.024 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.024 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
6.024 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2
6.024 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
6.024 * [taylor]: Taking taylor expansion of 2 in lambda2
6.024 * [backup-simplify]: Simplify 2 into 2
6.024 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
6.024 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.024 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.024 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.024 * [taylor]: Taking taylor expansion of 0.5 in lambda2
6.024 * [backup-simplify]: Simplify 0.5 into 0.5
6.024 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.024 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.025 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.025 * [backup-simplify]: Simplify phi1 into phi1
6.025 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.025 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.025 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.025 * [backup-simplify]: Simplify phi2 into phi2
6.025 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.025 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.025 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.025 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.025 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.026 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.026 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.026 * [backup-simplify]: Simplify (- 0) into 0
6.026 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.026 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
6.026 * [taylor]: Taking taylor expansion of lambda2 in lambda2
6.026 * [backup-simplify]: Simplify 0 into 0
6.026 * [backup-simplify]: Simplify 1 into 1
6.026 * [taylor]: Taking taylor expansion of lambda1 in lambda2
6.026 * [backup-simplify]: Simplify lambda1 into lambda1
6.027 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.027 * [backup-simplify]: Simplify (* 0 lambda1) into 0
6.027 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
6.028 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
6.028 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
6.028 * [taylor]: Taking taylor expansion of 2 in lambda2
6.028 * [backup-simplify]: Simplify 2 into 2
6.028 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
6.028 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
6.028 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.028 * [backup-simplify]: Simplify phi2 into phi2
6.028 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.028 * [backup-simplify]: Simplify phi1 into phi1
6.028 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
6.028 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
6.028 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.029 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.029 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.029 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.030 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.030 * [backup-simplify]: Simplify (+ 0) into 0
6.031 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.031 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.031 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.031 * [backup-simplify]: Simplify (+ 0 0) into 0
6.032 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.033 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.033 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.034 * [backup-simplify]: Simplify (- 0) into 0
6.034 * [backup-simplify]: Simplify (+ 0 0) into 0
6.035 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.036 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.037 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
6.037 * [backup-simplify]: Simplify (+ 0 0) into 0
6.038 * [backup-simplify]: Simplify (+ 0 0) into 0
6.038 * [backup-simplify]: Simplify (+ 0 0) into 0
6.038 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
6.039 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
6.039 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
6.040 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
6.041 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.041 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.041 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.041 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.041 * [backup-simplify]: Simplify 0.5 into 0.5
6.041 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.041 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.041 * [taylor]: Taking taylor expansion of phi1 in phi2
6.041 * [backup-simplify]: Simplify phi1 into phi1
6.041 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.041 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.041 * [taylor]: Taking taylor expansion of phi2 in phi2
6.041 * [backup-simplify]: Simplify 0 into 0
6.041 * [backup-simplify]: Simplify 1 into 1
6.042 * [backup-simplify]: Simplify (/ 1 1) into 1
6.042 * [backup-simplify]: Simplify (+ 0 1) into 1
6.042 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.043 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.043 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in phi2
6.043 * [taylor]: Taking taylor expansion of -1 in phi2
6.043 * [backup-simplify]: Simplify -1 into -1
6.043 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in phi2
6.043 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.043 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.043 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.043 * [backup-simplify]: Simplify 0.5 into 0.5
6.043 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.043 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.043 * [taylor]: Taking taylor expansion of phi1 in phi2
6.043 * [backup-simplify]: Simplify phi1 into phi1
6.043 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.043 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.043 * [taylor]: Taking taylor expansion of phi2 in phi2
6.043 * [backup-simplify]: Simplify 0 into 0
6.043 * [backup-simplify]: Simplify 1 into 1
6.043 * [backup-simplify]: Simplify (/ 1 1) into 1
6.044 * [backup-simplify]: Simplify (+ 0 1) into 1
6.044 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.044 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.044 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.044 * [backup-simplify]: Simplify lambda1 into lambda1
6.045 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
6.045 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.045 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.045 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.045 * [backup-simplify]: Simplify 0.5 into 0.5
6.045 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.045 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.045 * [taylor]: Taking taylor expansion of phi1 in phi1
6.045 * [backup-simplify]: Simplify 0 into 0
6.045 * [backup-simplify]: Simplify 1 into 1
6.045 * [backup-simplify]: Simplify (/ 1 1) into 1
6.045 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.045 * [taylor]: Taking taylor expansion of phi2 in phi1
6.045 * [backup-simplify]: Simplify phi2 into phi2
6.045 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.046 * [backup-simplify]: Simplify (+ 1 0) into 1
6.046 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.046 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.047 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
6.048 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
6.048 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
6.048 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
6.049 * [backup-simplify]: Simplify (+ 0 0) into 0
6.049 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
6.050 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
6.051 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
6.051 * [backup-simplify]: Simplify (- 0) into 0
6.051 * [backup-simplify]: Simplify (+ 0 0) into 0
6.052 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
6.053 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
6.054 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0
6.055 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2))
6.055 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) into (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))
6.056 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))))
6.056 * [backup-simplify]: Simplify (+ 0) into 0
6.060 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.061 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.061 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.062 * [backup-simplify]: Simplify (+ 0 0) into 0
6.062 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.063 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.063 * [backup-simplify]: Simplify (- 0) into 0
6.063 * [backup-simplify]: Simplify (+ 0 0) into 0
6.064 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.064 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
6.065 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
6.065 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
6.065 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
6.065 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1)))
6.065 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1))))
6.066 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1))))
6.067 * [backup-simplify]: Simplify (/ (- (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2) (+)) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.067 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
6.067 * [taylor]: Taking taylor expansion of 1/2 in phi2
6.068 * [backup-simplify]: Simplify 1/2 into 1/2
6.068 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
6.068 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi2
6.068 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2
6.068 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
6.068 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
6.068 * [taylor]: Taking taylor expansion of phi2 in phi2
6.068 * [backup-simplify]: Simplify 0 into 0
6.068 * [backup-simplify]: Simplify 1 into 1
6.068 * [backup-simplify]: Simplify (* 1 1) into 1
6.068 * [backup-simplify]: Simplify (/ 1 1) into 1
6.068 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
6.068 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
6.068 * [taylor]: Taking taylor expansion of phi1 in phi2
6.068 * [backup-simplify]: Simplify phi1 into phi1
6.068 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.068 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
6.068 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
6.068 * [taylor]: Taking taylor expansion of 2 in phi2
6.068 * [backup-simplify]: Simplify 2 into 2
6.068 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
6.069 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
6.069 * [taylor]: Taking taylor expansion of phi2 in phi2
6.069 * [backup-simplify]: Simplify 0 into 0
6.069 * [backup-simplify]: Simplify 1 into 1
6.069 * [taylor]: Taking taylor expansion of phi1 in phi2
6.069 * [backup-simplify]: Simplify phi1 into phi1
6.069 * [backup-simplify]: Simplify (* 0 phi1) into 0
6.069 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
6.069 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.069 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.069 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.069 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.069 * [backup-simplify]: Simplify 0.5 into 0.5
6.069 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.069 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.069 * [taylor]: Taking taylor expansion of phi1 in phi2
6.069 * [backup-simplify]: Simplify phi1 into phi1
6.069 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.069 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.069 * [taylor]: Taking taylor expansion of phi2 in phi2
6.069 * [backup-simplify]: Simplify 0 into 0
6.069 * [backup-simplify]: Simplify 1 into 1
6.069 * [backup-simplify]: Simplify (/ 1 1) into 1
6.070 * [backup-simplify]: Simplify (+ 0 1) into 1
6.070 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.070 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.070 * [backup-simplify]: Simplify (+ 1 0) into 1
6.071 * [backup-simplify]: Simplify (+ 1 0) into 1
6.071 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.071 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.072 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
6.072 * [backup-simplify]: Simplify (+ 0 0) into 0
6.072 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
6.072 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1)))
6.072 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
6.073 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
6.073 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
6.073 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
6.073 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
6.073 * [taylor]: Taking taylor expansion of (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
6.073 * [taylor]: Taking taylor expansion of phi1 in phi1
6.073 * [backup-simplify]: Simplify 0 into 0
6.073 * [backup-simplify]: Simplify 1 into 1
6.073 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.073 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.073 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.073 * [backup-simplify]: Simplify 0.5 into 0.5
6.073 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.073 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.073 * [taylor]: Taking taylor expansion of phi1 in phi1
6.073 * [backup-simplify]: Simplify 0 into 0
6.074 * [backup-simplify]: Simplify 1 into 1
6.074 * [backup-simplify]: Simplify (/ 1 1) into 1
6.074 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.074 * [taylor]: Taking taylor expansion of phi2 in phi1
6.074 * [backup-simplify]: Simplify phi2 into phi2
6.074 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.074 * [backup-simplify]: Simplify (+ 1 0) into 1
6.074 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.075 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.075 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
6.075 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.075 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.075 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.075 * [taylor]: Taking taylor expansion of (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
6.075 * [taylor]: Taking taylor expansion of (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
6.075 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.075 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.075 * [taylor]: Taking taylor expansion of 0.5 in lambda1
6.075 * [backup-simplify]: Simplify 0.5 into 0.5
6.076 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.076 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.076 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.076 * [backup-simplify]: Simplify phi1 into phi1
6.076 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.076 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.076 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.076 * [backup-simplify]: Simplify phi2 into phi2
6.076 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.076 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.076 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.076 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.076 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.076 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.076 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.077 * [backup-simplify]: Simplify (- 0) into 0
6.077 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.077 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.077 * [backup-simplify]: Simplify (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.077 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in phi1
6.077 * [taylor]: Taking taylor expansion of -1 in phi1
6.077 * [backup-simplify]: Simplify -1 into -1
6.077 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in phi1
6.077 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.077 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.077 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.077 * [backup-simplify]: Simplify 0.5 into 0.5
6.077 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.077 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.077 * [taylor]: Taking taylor expansion of phi1 in phi1
6.077 * [backup-simplify]: Simplify 0 into 0
6.077 * [backup-simplify]: Simplify 1 into 1
6.077 * [backup-simplify]: Simplify (/ 1 1) into 1
6.078 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.078 * [taylor]: Taking taylor expansion of phi2 in phi1
6.078 * [backup-simplify]: Simplify phi2 into phi2
6.078 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.078 * [backup-simplify]: Simplify (+ 1 0) into 1
6.078 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.078 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.078 * [taylor]: Taking taylor expansion of lambda1 in phi1
6.078 * [backup-simplify]: Simplify lambda1 into lambda1
6.078 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) into (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
6.078 * [taylor]: Taking taylor expansion of 0 in phi1
6.079 * [backup-simplify]: Simplify 0 into 0
6.079 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.079 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.079 * [taylor]: Taking taylor expansion of 0.5 in lambda1
6.079 * [backup-simplify]: Simplify 0.5 into 0.5
6.079 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.079 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.079 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.079 * [backup-simplify]: Simplify phi1 into phi1
6.079 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.079 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.079 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.079 * [backup-simplify]: Simplify phi2 into phi2
6.079 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.079 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.079 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.079 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.079 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.079 * [backup-simplify]: Simplify (+ 0) into 0
6.080 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.080 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.080 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.080 * [backup-simplify]: Simplify (+ 0 0) into 0
6.081 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.081 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.082 * [backup-simplify]: Simplify (- 0) into 0
6.082 * [backup-simplify]: Simplify (+ 0 0) into 0
6.082 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.082 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
6.083 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
6.083 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
6.083 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0
6.084 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
6.084 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
6.084 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
6.084 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
6.085 * [backup-simplify]: Simplify (+ 0 0) into 0
6.086 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
6.087 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
6.087 * [backup-simplify]: Simplify (- 0) into 0
6.087 * [backup-simplify]: Simplify (+ 0 0) into 0
6.088 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
6.089 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
6.090 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
6.090 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
6.090 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0
6.091 * [backup-simplify]: Simplify (+ 0 0) into 0
6.091 * [backup-simplify]: Simplify (+ 0 0) into 0
6.091 * [backup-simplify]: Simplify (+ 0 0) into 0
6.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
6.092 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
6.092 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
6.092 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
6.093 * [backup-simplify]: Simplify (+ 0 0) into 0
6.093 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
6.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
6.094 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
6.095 * [backup-simplify]: Simplify (- 0) into 0
6.095 * [backup-simplify]: Simplify (+ 0 0) into 0
6.095 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
6.096 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0
6.097 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0
6.098 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0
6.098 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
6.098 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0
6.099 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0
6.099 * [backup-simplify]: Simplify (+ 0 0) into 0
6.100 * [backup-simplify]: Simplify (- 0) into 0
6.100 * [backup-simplify]: Simplify (+ 0 0) into 0
6.102 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.102 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
6.102 * [taylor]: Taking taylor expansion of 1/2 in phi2
6.102 * [backup-simplify]: Simplify 1/2 into 1/2
6.102 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
6.102 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) in phi2
6.102 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) in phi2
6.102 * [taylor]: Taking taylor expansion of (/ 1 (* lambda1 (pow phi1 2))) in phi2
6.102 * [taylor]: Taking taylor expansion of (* lambda1 (pow phi1 2)) in phi2
6.102 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.102 * [backup-simplify]: Simplify lambda1 into lambda1
6.102 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
6.102 * [taylor]: Taking taylor expansion of phi1 in phi2
6.102 * [backup-simplify]: Simplify phi1 into phi1
6.102 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.103 * [backup-simplify]: Simplify (* lambda1 (pow phi1 2)) into (* lambda1 (pow phi1 2))
6.103 * [backup-simplify]: Simplify (/ 1 (* lambda1 (pow phi1 2))) into (/ 1 (* lambda1 (pow phi1 2)))
6.103 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda1)) in phi2
6.103 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda1) in phi2
6.103 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
6.103 * [taylor]: Taking taylor expansion of phi2 in phi2
6.103 * [backup-simplify]: Simplify 0 into 0
6.103 * [backup-simplify]: Simplify 1 into 1
6.103 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.103 * [backup-simplify]: Simplify lambda1 into lambda1
6.104 * [backup-simplify]: Simplify (* 1 1) into 1
6.104 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
6.104 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
6.104 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda1 phi1)))) in phi2
6.104 * [taylor]: Taking taylor expansion of 2 in phi2
6.104 * [backup-simplify]: Simplify 2 into 2
6.104 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda1 phi1))) in phi2
6.104 * [taylor]: Taking taylor expansion of (* phi2 (* lambda1 phi1)) in phi2
6.104 * [taylor]: Taking taylor expansion of phi2 in phi2
6.104 * [backup-simplify]: Simplify 0 into 0
6.104 * [backup-simplify]: Simplify 1 into 1
6.104 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi2
6.104 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.104 * [backup-simplify]: Simplify lambda1 into lambda1
6.104 * [taylor]: Taking taylor expansion of phi1 in phi2
6.104 * [backup-simplify]: Simplify phi1 into phi1
6.104 * [backup-simplify]: Simplify (* lambda1 phi1) into (* lambda1 phi1)
6.104 * [backup-simplify]: Simplify (* 0 (* lambda1 phi1)) into 0
6.104 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 phi1)) into 0
6.105 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 phi1))) into (* lambda1 phi1)
6.105 * [backup-simplify]: Simplify (/ 1 (* lambda1 phi1)) into (/ 1 (* lambda1 phi1))
6.105 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.105 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.105 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.105 * [backup-simplify]: Simplify 0.5 into 0.5
6.105 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.105 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.105 * [taylor]: Taking taylor expansion of phi1 in phi2
6.105 * [backup-simplify]: Simplify phi1 into phi1
6.105 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.105 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.105 * [taylor]: Taking taylor expansion of phi2 in phi2
6.105 * [backup-simplify]: Simplify 0 into 0
6.105 * [backup-simplify]: Simplify 1 into 1
6.106 * [backup-simplify]: Simplify (/ 1 1) into 1
6.106 * [backup-simplify]: Simplify (+ 0 1) into 1
6.107 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.107 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.107 * [backup-simplify]: Simplify (+ 0 (/ 1 lambda1)) into (/ 1 lambda1)
6.107 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
6.107 * [backup-simplify]: Simplify (/ (/ 1 lambda1) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.108 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.109 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
6.109 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
6.109 * [backup-simplify]: Simplify (+ 0 0) into 0
6.109 * [backup-simplify]: Simplify (* 2 (/ 1 (* lambda1 phi1))) into (/ 2 (* lambda1 phi1))
6.109 * [backup-simplify]: Simplify (- (/ 2 (* lambda1 phi1))) into (- (* 2 (/ 1 (* lambda1 phi1))))
6.110 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 (* lambda1 phi1))))) into (- (* 2 (/ 1 (* lambda1 phi1))))
6.110 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 (* lambda1 phi1)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))
6.111 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 0 (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))
6.111 * [taylor]: Taking taylor expansion of (- (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) in phi1
6.111 * [taylor]: Taking taylor expansion of (/ 1 (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
6.111 * [taylor]: Taking taylor expansion of (* phi1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
6.111 * [taylor]: Taking taylor expansion of phi1 in phi1
6.111 * [backup-simplify]: Simplify 0 into 0
6.111 * [backup-simplify]: Simplify 1 into 1
6.111 * [taylor]: Taking taylor expansion of (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
6.111 * [taylor]: Taking taylor expansion of lambda1 in phi1
6.111 * [backup-simplify]: Simplify lambda1 into lambda1
6.111 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.111 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.111 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.112 * [backup-simplify]: Simplify 0.5 into 0.5
6.112 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.112 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.112 * [taylor]: Taking taylor expansion of phi1 in phi1
6.112 * [backup-simplify]: Simplify 0 into 0
6.112 * [backup-simplify]: Simplify 1 into 1
6.112 * [backup-simplify]: Simplify (/ 1 1) into 1
6.112 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.112 * [taylor]: Taking taylor expansion of phi2 in phi1
6.112 * [backup-simplify]: Simplify phi2 into phi2
6.112 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.113 * [backup-simplify]: Simplify (+ 1 0) into 1
6.113 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.113 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.113 * [backup-simplify]: Simplify (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.114 * [backup-simplify]: Simplify (* 0 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.114 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.114 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.115 * [backup-simplify]: Simplify (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.115 * [backup-simplify]: Simplify (- (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
6.115 * [taylor]: Taking taylor expansion of (- (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in lambda1
6.115 * [taylor]: Taking taylor expansion of (/ 1 (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
6.115 * [taylor]: Taking taylor expansion of (* lambda1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
6.115 * [taylor]: Taking taylor expansion of lambda1 in lambda1
6.115 * [backup-simplify]: Simplify 0 into 0
6.115 * [backup-simplify]: Simplify 1 into 1
6.115 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.115 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.115 * [taylor]: Taking taylor expansion of 0.5 in lambda1
6.115 * [backup-simplify]: Simplify 0.5 into 0.5
6.115 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.116 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.116 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.116 * [backup-simplify]: Simplify phi1 into phi1
6.116 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.116 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.116 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.116 * [backup-simplify]: Simplify phi2 into phi2
6.116 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.116 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.116 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.116 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.117 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.117 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.117 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.117 * [backup-simplify]: Simplify (- 0) into 0
6.118 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.118 * [backup-simplify]: Simplify (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
6.118 * [backup-simplify]: Simplify (+ 0) into 0
6.119 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.119 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.119 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.120 * [backup-simplify]: Simplify (+ 0 0) into 0
6.120 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.122 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.122 * [backup-simplify]: Simplify (- 0) into 0
6.123 * [backup-simplify]: Simplify (+ 0 0) into 0
6.123 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.124 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.124 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.124 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.125 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
6.126 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
6.126 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2))
6.127 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
6.127 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.128 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0
6.128 * [backup-simplify]: Simplify (- 0) into 0
6.129 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) 0) into (/ 1 (pow phi1 2))
6.130 * [backup-simplify]: Simplify (- (/ (/ 1 (pow phi1 2)) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.131 * [backup-simplify]: Simplify (+ (* 1/2 (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) (+ (* 0 (- (* 2 (/ 1 (* phi1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))))) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (* 1/2 (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))
6.131 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) in phi1
6.131 * [taylor]: Taking taylor expansion of 1/2 in phi1
6.131 * [backup-simplify]: Simplify 1/2 into 1/2
6.131 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi1
6.131 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi1
6.131 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
6.131 * [taylor]: Taking taylor expansion of phi1 in phi1
6.131 * [backup-simplify]: Simplify 0 into 0
6.131 * [backup-simplify]: Simplify 1 into 1
6.131 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.131 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.131 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.131 * [backup-simplify]: Simplify 0.5 into 0.5
6.131 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.132 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.132 * [taylor]: Taking taylor expansion of phi1 in phi1
6.132 * [backup-simplify]: Simplify 0 into 0
6.132 * [backup-simplify]: Simplify 1 into 1
6.132 * [backup-simplify]: Simplify (/ 1 1) into 1
6.132 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.132 * [taylor]: Taking taylor expansion of phi2 in phi1
6.132 * [backup-simplify]: Simplify phi2 into phi2
6.132 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.133 * [backup-simplify]: Simplify (+ 1 0) into 1
6.133 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.133 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.134 * [backup-simplify]: Simplify (* 1 1) into 1
6.134 * [backup-simplify]: Simplify (* 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.134 * [backup-simplify]: Simplify (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.135 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.135 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.136 * [backup-simplify]: Simplify (- (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
6.137 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
6.137 * [taylor]: Taking taylor expansion of 0 in lambda1
6.137 * [backup-simplify]: Simplify 0 into 0
6.137 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (/ 0 lambda1)))) into 0
6.138 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) into 0
6.138 * [taylor]: Taking taylor expansion of 0 in phi1
6.138 * [backup-simplify]: Simplify 0 into 0
6.138 * [taylor]: Taking taylor expansion of 0 in phi1
6.138 * [backup-simplify]: Simplify 0 into 0
6.139 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
6.139 * [backup-simplify]: Simplify (- (+ (* (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
6.140 * [backup-simplify]: Simplify (- 0) into 0
6.140 * [taylor]: Taking taylor expansion of 0 in lambda1
6.140 * [backup-simplify]: Simplify 0 into 0
6.140 * [backup-simplify]: Simplify (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.140 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in lambda1
6.140 * [taylor]: Taking taylor expansion of -1 in lambda1
6.140 * [backup-simplify]: Simplify -1 into -1
6.140 * [taylor]: Taking taylor expansion of (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in lambda1
6.140 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.140 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.140 * [taylor]: Taking taylor expansion of 0.5 in lambda1
6.140 * [backup-simplify]: Simplify 0.5 into 0.5
6.140 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.140 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.141 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.141 * [backup-simplify]: Simplify phi1 into phi1
6.141 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.141 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.141 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.141 * [backup-simplify]: Simplify phi2 into phi2
6.141 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.141 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.141 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.141 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.141 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.141 * [taylor]: Taking taylor expansion of lambda1 in lambda1
6.142 * [backup-simplify]: Simplify 0 into 0
6.142 * [backup-simplify]: Simplify 1 into 1
6.142 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.142 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.142 * [backup-simplify]: Simplify (- 0) into 0
6.143 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.143 * [backup-simplify]: Simplify (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.143 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.143 * [backup-simplify]: Simplify (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.143 * [taylor]: Taking taylor expansion of 0 in lambda1
6.143 * [backup-simplify]: Simplify 0 into 0
6.143 * [taylor]: Taking taylor expansion of 0 in lambda1
6.143 * [backup-simplify]: Simplify 0 into 0
6.144 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.144 * [backup-simplify]: Simplify (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.147 * [backup-simplify]: Simplify (+ (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* 1 (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (/ 1 lambda2))))) (+ (* (* -1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2)))))) (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1)))) (* (- (/ 1 (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))))) (* (/ 1 (/ 1 lambda1)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (pow (/ 1 lambda2) 2))))))) into (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))
6.150 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 (- lambda2)) 2) (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (pow (/ 1 (- lambda1)) 2))) (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))))
6.150 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in (lambda2 phi2 phi1 lambda1) around 0
6.150 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda1
6.150 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda1
6.150 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda1
6.150 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
6.150 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
6.150 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.150 * [backup-simplify]: Simplify phi2 into phi2
6.150 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
6.150 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
6.150 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda1
6.150 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda1
6.150 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
6.151 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.151 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.151 * [taylor]: Taking taylor expansion of -0.5 in lambda1
6.151 * [backup-simplify]: Simplify -0.5 into -0.5
6.151 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.151 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.151 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.151 * [backup-simplify]: Simplify phi1 into phi1
6.151 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.151 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.151 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.151 * [backup-simplify]: Simplify phi2 into phi2
6.151 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.151 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.151 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.151 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.152 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.152 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.152 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.153 * [backup-simplify]: Simplify (- 0) into 0
6.153 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.153 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
6.153 * [taylor]: Taking taylor expansion of lambda2 in lambda1
6.153 * [backup-simplify]: Simplify lambda2 into lambda2
6.153 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.153 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
6.154 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
6.154 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda1
6.154 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
6.154 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
6.154 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.154 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.154 * [taylor]: Taking taylor expansion of -0.5 in lambda1
6.154 * [backup-simplify]: Simplify -0.5 into -0.5
6.154 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.154 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.154 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.154 * [backup-simplify]: Simplify phi1 into phi1
6.154 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.154 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.154 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.154 * [backup-simplify]: Simplify phi2 into phi2
6.154 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.155 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.155 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.155 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.155 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.155 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.156 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.156 * [backup-simplify]: Simplify (- 0) into 0
6.156 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.156 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
6.156 * [taylor]: Taking taylor expansion of lambda1 in lambda1
6.156 * [backup-simplify]: Simplify 0 into 0
6.157 * [backup-simplify]: Simplify 1 into 1
6.157 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.157 * [backup-simplify]: Simplify (* 1 1) into 1
6.158 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.158 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
6.158 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
6.158 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.158 * [backup-simplify]: Simplify phi1 into phi1
6.158 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.158 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
6.158 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda1
6.158 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
6.158 * [taylor]: Taking taylor expansion of 2 in lambda1
6.158 * [backup-simplify]: Simplify 2 into 2
6.158 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
6.158 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
6.158 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.158 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.158 * [taylor]: Taking taylor expansion of -0.5 in lambda1
6.158 * [backup-simplify]: Simplify -0.5 into -0.5
6.158 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.159 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.159 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.159 * [backup-simplify]: Simplify phi1 into phi1
6.159 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.159 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.159 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.159 * [backup-simplify]: Simplify phi2 into phi2
6.159 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.159 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.159 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.159 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.159 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.160 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.160 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.161 * [backup-simplify]: Simplify (- 0) into 0
6.161 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.161 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
6.161 * [taylor]: Taking taylor expansion of lambda2 in lambda1
6.161 * [backup-simplify]: Simplify lambda2 into lambda2
6.161 * [taylor]: Taking taylor expansion of lambda1 in lambda1
6.161 * [backup-simplify]: Simplify 0 into 0
6.161 * [backup-simplify]: Simplify 1 into 1
6.161 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.162 * [backup-simplify]: Simplify (* lambda2 0) into 0
6.162 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
6.162 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
6.163 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
6.163 * [taylor]: Taking taylor expansion of 2 in lambda1
6.163 * [backup-simplify]: Simplify 2 into 2
6.163 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
6.163 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
6.163 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.163 * [backup-simplify]: Simplify phi2 into phi2
6.163 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.163 * [backup-simplify]: Simplify phi1 into phi1
6.163 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
6.163 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
6.163 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.164 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.164 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.164 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.165 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.165 * [backup-simplify]: Simplify (+ 0) into 0
6.166 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.166 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.166 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.166 * [backup-simplify]: Simplify (+ 0 0) into 0
6.167 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.169 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.170 * [backup-simplify]: Simplify (- 0) into 0
6.170 * [backup-simplify]: Simplify (+ 0 0) into 0
6.171 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.171 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.173 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
6.174 * [backup-simplify]: Simplify (+ 0 0) into 0
6.174 * [backup-simplify]: Simplify (+ 0 0) into 0
6.174 * [backup-simplify]: Simplify (+ 0 0) into 0
6.175 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
6.176 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
6.176 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
6.177 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
6.178 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
6.178 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi1
6.178 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi1
6.178 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi1
6.178 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
6.178 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
6.178 * [taylor]: Taking taylor expansion of phi2 in phi1
6.178 * [backup-simplify]: Simplify phi2 into phi2
6.178 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
6.178 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
6.178 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi1
6.179 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi1
6.179 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
6.179 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.179 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.179 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.179 * [backup-simplify]: Simplify -0.5 into -0.5
6.179 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.179 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.179 * [taylor]: Taking taylor expansion of phi1 in phi1
6.179 * [backup-simplify]: Simplify 0 into 0
6.179 * [backup-simplify]: Simplify 1 into 1
6.179 * [backup-simplify]: Simplify (/ 1 1) into 1
6.179 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.179 * [taylor]: Taking taylor expansion of phi2 in phi1
6.179 * [backup-simplify]: Simplify phi2 into phi2
6.180 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.180 * [backup-simplify]: Simplify (+ 1 0) into 1
6.180 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.181 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.181 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
6.181 * [taylor]: Taking taylor expansion of lambda2 in phi1
6.181 * [backup-simplify]: Simplify lambda2 into lambda2
6.181 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.181 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
6.182 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
6.182 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi1
6.182 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
6.182 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
6.182 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.182 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.182 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.182 * [backup-simplify]: Simplify -0.5 into -0.5
6.182 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.182 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.182 * [taylor]: Taking taylor expansion of phi1 in phi1
6.182 * [backup-simplify]: Simplify 0 into 0
6.182 * [backup-simplify]: Simplify 1 into 1
6.182 * [backup-simplify]: Simplify (/ 1 1) into 1
6.182 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.183 * [taylor]: Taking taylor expansion of phi2 in phi1
6.183 * [backup-simplify]: Simplify phi2 into phi2
6.183 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.183 * [backup-simplify]: Simplify (+ 1 0) into 1
6.184 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.184 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.184 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
6.184 * [taylor]: Taking taylor expansion of lambda1 in phi1
6.184 * [backup-simplify]: Simplify lambda1 into lambda1
6.184 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.184 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
6.185 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
6.185 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
6.185 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
6.185 * [taylor]: Taking taylor expansion of phi1 in phi1
6.185 * [backup-simplify]: Simplify 0 into 0
6.185 * [backup-simplify]: Simplify 1 into 1
6.185 * [backup-simplify]: Simplify (* 1 1) into 1
6.186 * [backup-simplify]: Simplify (/ 1 1) into 1
6.186 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi1
6.186 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
6.186 * [taylor]: Taking taylor expansion of 2 in phi1
6.186 * [backup-simplify]: Simplify 2 into 2
6.186 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
6.186 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
6.186 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.186 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.186 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.186 * [backup-simplify]: Simplify -0.5 into -0.5
6.186 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.186 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.186 * [taylor]: Taking taylor expansion of phi1 in phi1
6.186 * [backup-simplify]: Simplify 0 into 0
6.186 * [backup-simplify]: Simplify 1 into 1
6.187 * [backup-simplify]: Simplify (/ 1 1) into 1
6.187 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.187 * [taylor]: Taking taylor expansion of phi2 in phi1
6.187 * [backup-simplify]: Simplify phi2 into phi2
6.187 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.187 * [backup-simplify]: Simplify (+ 1 0) into 1
6.188 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.188 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.188 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
6.188 * [taylor]: Taking taylor expansion of lambda2 in phi1
6.188 * [backup-simplify]: Simplify lambda2 into lambda2
6.188 * [taylor]: Taking taylor expansion of lambda1 in phi1
6.188 * [backup-simplify]: Simplify lambda1 into lambda1
6.188 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.188 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
6.189 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
6.189 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
6.189 * [taylor]: Taking taylor expansion of 2 in phi1
6.189 * [backup-simplify]: Simplify 2 into 2
6.189 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
6.189 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
6.189 * [taylor]: Taking taylor expansion of phi2 in phi1
6.189 * [backup-simplify]: Simplify phi2 into phi2
6.189 * [taylor]: Taking taylor expansion of phi1 in phi1
6.189 * [backup-simplify]: Simplify 0 into 0
6.189 * [backup-simplify]: Simplify 1 into 1
6.189 * [backup-simplify]: Simplify (* phi2 0) into 0
6.190 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
6.190 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.190 * [backup-simplify]: Simplify (+ 0 1) into 1
6.191 * [backup-simplify]: Simplify (+ 0 1) into 1
6.191 * [backup-simplify]: Simplify (+ 0 1) into 1
6.191 * [backup-simplify]: Simplify (+ 1 0) into 1
6.192 * [backup-simplify]: Simplify (sqrt 1) into 1
6.192 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.193 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
6.194 * [backup-simplify]: Simplify (+ 0 0) into 0
6.194 * [backup-simplify]: Simplify (+ 0 0) into 0
6.194 * [backup-simplify]: Simplify (+ 0 0) into 0
6.194 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
6.195 * [backup-simplify]: Simplify (+ 0 (/ 2 phi2)) into (* 2 (/ 1 phi2))
6.195 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2)))
6.195 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
6.196 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
6.196 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in phi2
6.196 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in phi2
6.196 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in phi2
6.196 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
6.196 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
6.196 * [taylor]: Taking taylor expansion of phi2 in phi2
6.196 * [backup-simplify]: Simplify 0 into 0
6.196 * [backup-simplify]: Simplify 1 into 1
6.196 * [backup-simplify]: Simplify (* 1 1) into 1
6.197 * [backup-simplify]: Simplify (/ 1 1) into 1
6.197 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2
6.197 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in phi2
6.197 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
6.197 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.197 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.197 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.197 * [backup-simplify]: Simplify -0.5 into -0.5
6.197 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.197 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.197 * [taylor]: Taking taylor expansion of phi1 in phi2
6.197 * [backup-simplify]: Simplify phi1 into phi1
6.197 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.197 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.197 * [taylor]: Taking taylor expansion of phi2 in phi2
6.197 * [backup-simplify]: Simplify 0 into 0
6.197 * [backup-simplify]: Simplify 1 into 1
6.198 * [backup-simplify]: Simplify (/ 1 1) into 1
6.198 * [backup-simplify]: Simplify (+ 0 1) into 1
6.198 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.199 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.199 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
6.199 * [taylor]: Taking taylor expansion of lambda2 in phi2
6.199 * [backup-simplify]: Simplify lambda2 into lambda2
6.199 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.199 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
6.200 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2))
6.200 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2
6.200 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
6.200 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
6.200 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.200 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.200 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.200 * [backup-simplify]: Simplify -0.5 into -0.5
6.200 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.200 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.200 * [taylor]: Taking taylor expansion of phi1 in phi2
6.200 * [backup-simplify]: Simplify phi1 into phi1
6.200 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.200 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.200 * [taylor]: Taking taylor expansion of phi2 in phi2
6.200 * [backup-simplify]: Simplify 0 into 0
6.200 * [backup-simplify]: Simplify 1 into 1
6.201 * [backup-simplify]: Simplify (/ 1 1) into 1
6.201 * [backup-simplify]: Simplify (+ 0 1) into 1
6.202 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.202 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.202 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
6.202 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.202 * [backup-simplify]: Simplify lambda1 into lambda1
6.202 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.203 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
6.203 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
6.203 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
6.203 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
6.203 * [taylor]: Taking taylor expansion of phi1 in phi2
6.203 * [backup-simplify]: Simplify phi1 into phi1
6.203 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.203 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
6.203 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in phi2
6.204 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
6.204 * [taylor]: Taking taylor expansion of 2 in phi2
6.204 * [backup-simplify]: Simplify 2 into 2
6.204 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
6.204 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
6.204 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.204 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.204 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.204 * [backup-simplify]: Simplify -0.5 into -0.5
6.204 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.204 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.204 * [taylor]: Taking taylor expansion of phi1 in phi2
6.204 * [backup-simplify]: Simplify phi1 into phi1
6.204 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.204 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.204 * [taylor]: Taking taylor expansion of phi2 in phi2
6.204 * [backup-simplify]: Simplify 0 into 0
6.204 * [backup-simplify]: Simplify 1 into 1
6.204 * [backup-simplify]: Simplify (/ 1 1) into 1
6.205 * [backup-simplify]: Simplify (+ 0 1) into 1
6.205 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.206 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.206 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
6.206 * [taylor]: Taking taylor expansion of lambda2 in phi2
6.206 * [backup-simplify]: Simplify lambda2 into lambda2
6.206 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.206 * [backup-simplify]: Simplify lambda1 into lambda1
6.206 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.206 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
6.207 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
6.207 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
6.207 * [taylor]: Taking taylor expansion of 2 in phi2
6.207 * [backup-simplify]: Simplify 2 into 2
6.207 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
6.207 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
6.207 * [taylor]: Taking taylor expansion of phi2 in phi2
6.207 * [backup-simplify]: Simplify 0 into 0
6.207 * [backup-simplify]: Simplify 1 into 1
6.207 * [taylor]: Taking taylor expansion of phi1 in phi2
6.207 * [backup-simplify]: Simplify phi1 into phi1
6.207 * [backup-simplify]: Simplify (* 0 phi1) into 0
6.208 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
6.208 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.208 * [backup-simplify]: Simplify (+ 1 0) into 1
6.209 * [backup-simplify]: Simplify (+ 1 0) into 1
6.209 * [backup-simplify]: Simplify (sqrt 1) into 1
6.210 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.210 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
6.215 * [backup-simplify]: Simplify (+ 0 0) into 0
6.215 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
6.215 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1))
6.215 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
6.215 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
6.216 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
6.216 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2
6.216 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2
6.217 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2
6.217 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
6.217 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
6.217 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.217 * [backup-simplify]: Simplify phi2 into phi2
6.217 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
6.217 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
6.217 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2
6.217 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2
6.217 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.217 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.217 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.217 * [taylor]: Taking taylor expansion of -0.5 in lambda2
6.217 * [backup-simplify]: Simplify -0.5 into -0.5
6.217 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.217 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.217 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.217 * [backup-simplify]: Simplify phi1 into phi1
6.217 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.217 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.217 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.218 * [backup-simplify]: Simplify phi2 into phi2
6.218 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.218 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.218 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.218 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.218 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.219 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.219 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.219 * [backup-simplify]: Simplify (- 0) into 0
6.219 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.220 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
6.220 * [taylor]: Taking taylor expansion of lambda2 in lambda2
6.220 * [backup-simplify]: Simplify 0 into 0
6.220 * [backup-simplify]: Simplify 1 into 1
6.220 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.220 * [backup-simplify]: Simplify (* 1 1) into 1
6.221 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.221 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2
6.221 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
6.221 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.221 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.221 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.221 * [taylor]: Taking taylor expansion of -0.5 in lambda2
6.221 * [backup-simplify]: Simplify -0.5 into -0.5
6.221 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.221 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.221 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.221 * [backup-simplify]: Simplify phi1 into phi1
6.221 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.221 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.221 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.221 * [backup-simplify]: Simplify phi2 into phi2
6.221 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.221 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.221 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.221 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.221 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.222 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.222 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.222 * [backup-simplify]: Simplify (- 0) into 0
6.222 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.222 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
6.222 * [taylor]: Taking taylor expansion of lambda1 in lambda2
6.222 * [backup-simplify]: Simplify lambda1 into lambda1
6.222 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.222 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
6.223 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
6.223 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
6.223 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
6.223 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.223 * [backup-simplify]: Simplify phi1 into phi1
6.223 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.223 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
6.223 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2
6.223 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
6.223 * [taylor]: Taking taylor expansion of 2 in lambda2
6.223 * [backup-simplify]: Simplify 2 into 2
6.223 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
6.223 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.223 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.223 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.223 * [taylor]: Taking taylor expansion of -0.5 in lambda2
6.223 * [backup-simplify]: Simplify -0.5 into -0.5
6.223 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.223 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.223 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.223 * [backup-simplify]: Simplify phi1 into phi1
6.223 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.223 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.223 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.223 * [backup-simplify]: Simplify phi2 into phi2
6.223 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.224 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.224 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.224 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.224 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.224 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.224 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.224 * [backup-simplify]: Simplify (- 0) into 0
6.224 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.225 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
6.225 * [taylor]: Taking taylor expansion of lambda2 in lambda2
6.225 * [backup-simplify]: Simplify 0 into 0
6.225 * [backup-simplify]: Simplify 1 into 1
6.225 * [taylor]: Taking taylor expansion of lambda1 in lambda2
6.225 * [backup-simplify]: Simplify lambda1 into lambda1
6.225 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.225 * [backup-simplify]: Simplify (* 0 lambda1) into 0
6.225 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
6.225 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
6.225 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
6.225 * [taylor]: Taking taylor expansion of 2 in lambda2
6.225 * [backup-simplify]: Simplify 2 into 2
6.225 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
6.225 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
6.225 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.225 * [backup-simplify]: Simplify phi2 into phi2
6.225 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.225 * [backup-simplify]: Simplify phi1 into phi1
6.226 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
6.226 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
6.226 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.226 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.226 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.226 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.227 * [backup-simplify]: Simplify (+ 0) into 0
6.227 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.227 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.227 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.227 * [backup-simplify]: Simplify (+ 0 0) into 0
6.228 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.229 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.229 * [backup-simplify]: Simplify (- 0) into 0
6.229 * [backup-simplify]: Simplify (+ 0 0) into 0
6.229 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.230 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.231 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
6.231 * [backup-simplify]: Simplify (+ 0 0) into 0
6.231 * [backup-simplify]: Simplify (+ 0 0) into 0
6.231 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
6.232 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
6.232 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
6.232 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
6.233 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.233 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))))) in lambda2
6.233 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1))))) in lambda2
6.233 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))) in lambda2
6.233 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
6.233 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
6.233 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.233 * [backup-simplify]: Simplify phi2 into phi2
6.233 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
6.233 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
6.233 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in lambda2
6.233 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda2 2)) in lambda2
6.233 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.233 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.233 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.233 * [taylor]: Taking taylor expansion of -0.5 in lambda2
6.233 * [backup-simplify]: Simplify -0.5 into -0.5
6.233 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.233 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.233 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.233 * [backup-simplify]: Simplify phi1 into phi1
6.233 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.233 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.233 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.233 * [backup-simplify]: Simplify phi2 into phi2
6.233 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.234 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.234 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.234 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.234 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.234 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.234 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.234 * [backup-simplify]: Simplify (- 0) into 0
6.234 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.235 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
6.235 * [taylor]: Taking taylor expansion of lambda2 in lambda2
6.235 * [backup-simplify]: Simplify 0 into 0
6.235 * [backup-simplify]: Simplify 1 into 1
6.235 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.235 * [backup-simplify]: Simplify (* 1 1) into 1
6.235 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.235 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in lambda2
6.235 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
6.235 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.235 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.235 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.235 * [taylor]: Taking taylor expansion of -0.5 in lambda2
6.235 * [backup-simplify]: Simplify -0.5 into -0.5
6.235 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.235 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.235 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.235 * [backup-simplify]: Simplify phi1 into phi1
6.236 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.236 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.236 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.236 * [backup-simplify]: Simplify phi2 into phi2
6.236 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.236 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.236 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.236 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.236 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.236 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.236 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.237 * [backup-simplify]: Simplify (- 0) into 0
6.237 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.237 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
6.237 * [taylor]: Taking taylor expansion of lambda1 in lambda2
6.237 * [backup-simplify]: Simplify lambda1 into lambda1
6.237 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.237 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
6.237 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
6.237 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
6.237 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
6.237 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.237 * [backup-simplify]: Simplify phi1 into phi1
6.237 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.238 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
6.238 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ 1 (* phi2 phi1)))) in lambda2
6.238 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
6.238 * [taylor]: Taking taylor expansion of 2 in lambda2
6.238 * [backup-simplify]: Simplify 2 into 2
6.238 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
6.238 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
6.238 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
6.238 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
6.238 * [taylor]: Taking taylor expansion of -0.5 in lambda2
6.238 * [backup-simplify]: Simplify -0.5 into -0.5
6.238 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
6.238 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
6.238 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.238 * [backup-simplify]: Simplify phi1 into phi1
6.238 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.238 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
6.238 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.238 * [backup-simplify]: Simplify phi2 into phi2
6.238 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.238 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.238 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.238 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.238 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.238 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.239 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.239 * [backup-simplify]: Simplify (- 0) into 0
6.239 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.239 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
6.239 * [taylor]: Taking taylor expansion of lambda2 in lambda2
6.239 * [backup-simplify]: Simplify 0 into 0
6.239 * [backup-simplify]: Simplify 1 into 1
6.239 * [taylor]: Taking taylor expansion of lambda1 in lambda2
6.239 * [backup-simplify]: Simplify lambda1 into lambda1
6.240 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.240 * [backup-simplify]: Simplify (* 0 lambda1) into 0
6.240 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
6.240 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
6.240 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
6.240 * [taylor]: Taking taylor expansion of 2 in lambda2
6.240 * [backup-simplify]: Simplify 2 into 2
6.240 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
6.241 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
6.241 * [taylor]: Taking taylor expansion of phi2 in lambda2
6.241 * [backup-simplify]: Simplify phi2 into phi2
6.241 * [taylor]: Taking taylor expansion of phi1 in lambda2
6.241 * [backup-simplify]: Simplify phi1 into phi1
6.241 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
6.241 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
6.241 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.241 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.242 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
6.242 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.242 * [backup-simplify]: Simplify (+ 0) into 0
6.243 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.243 * [backup-simplify]: Simplify (+ 0 0) into 0
6.244 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.245 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.245 * [backup-simplify]: Simplify (- 0) into 0
6.245 * [backup-simplify]: Simplify (+ 0 0) into 0
6.246 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.246 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.247 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
6.247 * [backup-simplify]: Simplify (+ 0 0) into 0
6.248 * [backup-simplify]: Simplify (+ 0 0) into 0
6.248 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
6.248 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
6.249 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
6.249 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
6.250 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.250 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.250 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.250 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.250 * [backup-simplify]: Simplify -0.5 into -0.5
6.250 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.250 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.251 * [taylor]: Taking taylor expansion of phi1 in phi2
6.251 * [backup-simplify]: Simplify phi1 into phi1
6.251 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.251 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.251 * [taylor]: Taking taylor expansion of phi2 in phi2
6.251 * [backup-simplify]: Simplify 0 into 0
6.251 * [backup-simplify]: Simplify 1 into 1
6.251 * [backup-simplify]: Simplify (/ 1 1) into 1
6.252 * [backup-simplify]: Simplify (+ 0 1) into 1
6.252 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.253 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.253 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in phi2
6.253 * [taylor]: Taking taylor expansion of -1 in phi2
6.253 * [backup-simplify]: Simplify -1 into -1
6.253 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in phi2
6.253 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.253 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.253 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.253 * [backup-simplify]: Simplify -0.5 into -0.5
6.253 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.253 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.253 * [taylor]: Taking taylor expansion of phi1 in phi2
6.253 * [backup-simplify]: Simplify phi1 into phi1
6.253 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.253 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.253 * [taylor]: Taking taylor expansion of phi2 in phi2
6.253 * [backup-simplify]: Simplify 0 into 0
6.253 * [backup-simplify]: Simplify 1 into 1
6.254 * [backup-simplify]: Simplify (/ 1 1) into 1
6.254 * [backup-simplify]: Simplify (+ 0 1) into 1
6.254 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.255 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.255 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.255 * [backup-simplify]: Simplify lambda1 into lambda1
6.255 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
6.255 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.255 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.255 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.255 * [backup-simplify]: Simplify -0.5 into -0.5
6.255 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.255 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.255 * [taylor]: Taking taylor expansion of phi1 in phi1
6.255 * [backup-simplify]: Simplify 0 into 0
6.255 * [backup-simplify]: Simplify 1 into 1
6.256 * [backup-simplify]: Simplify (/ 1 1) into 1
6.256 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.256 * [taylor]: Taking taylor expansion of phi2 in phi1
6.256 * [backup-simplify]: Simplify phi2 into phi2
6.256 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.256 * [backup-simplify]: Simplify (+ 1 0) into 1
6.257 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.257 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
6.259 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
6.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
6.259 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
6.260 * [backup-simplify]: Simplify (+ 0 0) into 0
6.261 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
6.261 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
6.262 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
6.263 * [backup-simplify]: Simplify (- 0) into 0
6.263 * [backup-simplify]: Simplify (+ 0 0) into 0
6.264 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
6.265 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
6.266 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)))) into 0
6.267 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))
6.268 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))
6.269 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))
6.269 * [backup-simplify]: Simplify (+ 0) into 0
6.270 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.270 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.270 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.270 * [backup-simplify]: Simplify (+ 0 0) into 0
6.271 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.272 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.273 * [backup-simplify]: Simplify (- 0) into 0
6.273 * [backup-simplify]: Simplify (+ 0 0) into 0
6.274 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.275 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
6.276 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
6.277 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
6.277 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
6.277 * [backup-simplify]: Simplify (+ 0 (/ 2 (* phi2 phi1))) into (* 2 (/ 1 (* phi2 phi1)))
6.277 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1))))
6.279 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1))))
6.282 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) 2) (+)) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.282 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
6.282 * [taylor]: Taking taylor expansion of 1/2 in phi2
6.282 * [backup-simplify]: Simplify 1/2 into 1/2
6.282 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
6.282 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) in phi2
6.282 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) in phi2
6.282 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
6.282 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
6.282 * [taylor]: Taking taylor expansion of phi2 in phi2
6.282 * [backup-simplify]: Simplify 0 into 0
6.282 * [backup-simplify]: Simplify 1 into 1
6.282 * [backup-simplify]: Simplify (* 1 1) into 1
6.283 * [backup-simplify]: Simplify (/ 1 1) into 1
6.283 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
6.283 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
6.283 * [taylor]: Taking taylor expansion of phi1 in phi2
6.283 * [backup-simplify]: Simplify phi1 into phi1
6.283 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.283 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
6.283 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
6.283 * [taylor]: Taking taylor expansion of 2 in phi2
6.283 * [backup-simplify]: Simplify 2 into 2
6.283 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
6.283 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
6.283 * [taylor]: Taking taylor expansion of phi2 in phi2
6.283 * [backup-simplify]: Simplify 0 into 0
6.283 * [backup-simplify]: Simplify 1 into 1
6.283 * [taylor]: Taking taylor expansion of phi1 in phi2
6.283 * [backup-simplify]: Simplify phi1 into phi1
6.283 * [backup-simplify]: Simplify (* 0 phi1) into 0
6.284 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
6.284 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.284 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.284 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.284 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.284 * [backup-simplify]: Simplify -0.5 into -0.5
6.284 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.284 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.284 * [taylor]: Taking taylor expansion of phi1 in phi2
6.284 * [backup-simplify]: Simplify phi1 into phi1
6.284 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.284 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.284 * [taylor]: Taking taylor expansion of phi2 in phi2
6.284 * [backup-simplify]: Simplify 0 into 0
6.284 * [backup-simplify]: Simplify 1 into 1
6.285 * [backup-simplify]: Simplify (/ 1 1) into 1
6.285 * [backup-simplify]: Simplify (+ 0 1) into 1
6.286 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.286 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.286 * [backup-simplify]: Simplify (+ 1 0) into 1
6.287 * [backup-simplify]: Simplify (+ 1 0) into 1
6.287 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.288 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.289 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
6.289 * [backup-simplify]: Simplify (+ 0 0) into 0
6.289 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
6.289 * [backup-simplify]: Simplify (- (/ 2 phi1)) into (- (* 2 (/ 1 phi1)))
6.289 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
6.290 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 phi1))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))
6.291 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))
6.291 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))) in phi1
6.291 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)) in phi1
6.291 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1) in phi1
6.291 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.291 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.291 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.291 * [backup-simplify]: Simplify -0.5 into -0.5
6.291 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.291 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.291 * [taylor]: Taking taylor expansion of phi1 in phi1
6.291 * [backup-simplify]: Simplify 0 into 0
6.291 * [backup-simplify]: Simplify 1 into 1
6.292 * [backup-simplify]: Simplify (/ 1 1) into 1
6.292 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.292 * [taylor]: Taking taylor expansion of phi2 in phi1
6.292 * [backup-simplify]: Simplify phi2 into phi2
6.292 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.292 * [backup-simplify]: Simplify (+ 1 0) into 1
6.293 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.293 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.293 * [taylor]: Taking taylor expansion of phi1 in phi1
6.293 * [backup-simplify]: Simplify 0 into 0
6.293 * [backup-simplify]: Simplify 1 into 1
6.293 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.294 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.294 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.294 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.294 * [taylor]: Taking taylor expansion of (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in lambda1
6.294 * [taylor]: Taking taylor expansion of (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in lambda1
6.295 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.295 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.295 * [taylor]: Taking taylor expansion of -0.5 in lambda1
6.295 * [backup-simplify]: Simplify -0.5 into -0.5
6.295 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.295 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.295 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.295 * [backup-simplify]: Simplify phi1 into phi1
6.295 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.295 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.295 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.295 * [backup-simplify]: Simplify phi2 into phi2
6.295 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.295 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.295 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.295 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.296 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.296 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.296 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.297 * [backup-simplify]: Simplify (- 0) into 0
6.297 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.297 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.297 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.297 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in phi1
6.297 * [taylor]: Taking taylor expansion of -1 in phi1
6.297 * [backup-simplify]: Simplify -1 into -1
6.297 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in phi1
6.297 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.298 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.298 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.298 * [backup-simplify]: Simplify -0.5 into -0.5
6.298 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.298 * [taylor]: Taking taylor expansion of phi1 in phi1
6.298 * [backup-simplify]: Simplify 0 into 0
6.298 * [backup-simplify]: Simplify 1 into 1
6.298 * [backup-simplify]: Simplify (/ 1 1) into 1
6.298 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.298 * [taylor]: Taking taylor expansion of phi2 in phi1
6.298 * [backup-simplify]: Simplify phi2 into phi2
6.298 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.299 * [backup-simplify]: Simplify (+ 1 0) into 1
6.299 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.299 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.300 * [taylor]: Taking taylor expansion of lambda1 in phi1
6.300 * [backup-simplify]: Simplify lambda1 into lambda1
6.300 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) into (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
6.300 * [taylor]: Taking taylor expansion of 0 in phi1
6.300 * [backup-simplify]: Simplify 0 into 0
6.300 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.300 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.300 * [taylor]: Taking taylor expansion of -0.5 in lambda1
6.300 * [backup-simplify]: Simplify -0.5 into -0.5
6.300 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.300 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.300 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.300 * [backup-simplify]: Simplify phi1 into phi1
6.300 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.300 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.300 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.300 * [backup-simplify]: Simplify phi2 into phi2
6.300 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.301 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.301 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.301 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.301 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.301 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
6.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0
6.303 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
6.304 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
6.304 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
6.304 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
6.305 * [backup-simplify]: Simplify (+ 0 0) into 0
6.306 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.308 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
6.308 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
6.309 * [backup-simplify]: Simplify (- 0) into 0
6.309 * [backup-simplify]: Simplify (+ 0 0) into 0
6.310 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
6.311 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
6.314 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
6.314 * [backup-simplify]: Simplify (+ 0) into 0
6.315 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.315 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.315 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.315 * [backup-simplify]: Simplify (+ 0 0) into 0
6.316 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.317 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.318 * [backup-simplify]: Simplify (- 0) into 0
6.318 * [backup-simplify]: Simplify (+ 0 0) into 0
6.319 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
6.319 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
6.320 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
6.320 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
6.320 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0
6.320 * [backup-simplify]: Simplify (+ 0 0) into 0
6.321 * [backup-simplify]: Simplify (+ 0 0) into 0
6.321 * [backup-simplify]: Simplify (+ 0 0) into 0
6.322 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
6.323 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
6.323 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
6.323 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
6.324 * [backup-simplify]: Simplify (+ 0 0) into 0
6.325 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
6.326 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
6.326 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
6.327 * [backup-simplify]: Simplify (- 0) into 0
6.327 * [backup-simplify]: Simplify (+ 0 0) into 0
6.328 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
6.329 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0
6.330 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0
6.331 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0
6.331 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
6.331 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0
6.332 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0
6.332 * [backup-simplify]: Simplify (+ 0 0) into 0
6.332 * [backup-simplify]: Simplify (- 0) into 0
6.333 * [backup-simplify]: Simplify (+ 0 0) into 0
6.335 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (* 1/2 (/ (- (+ (/ 1 (pow phi2 2)) (/ 1 (pow phi1 2))) (* 2 (/ 1 (* phi2 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))))) (* 2 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (* 1/2 (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.335 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) in phi2
6.335 * [taylor]: Taking taylor expansion of 1/2 in phi2
6.335 * [backup-simplify]: Simplify 1/2 into 1/2
6.335 * [taylor]: Taking taylor expansion of (/ (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) in phi2
6.335 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) (* 2 (/ 1 (* phi2 (* lambda1 phi1))))) in phi2
6.335 * [taylor]: Taking taylor expansion of (+ (/ 1 (* lambda1 (pow phi1 2))) (/ 1 (* (pow phi2 2) lambda1))) in phi2
6.335 * [taylor]: Taking taylor expansion of (/ 1 (* lambda1 (pow phi1 2))) in phi2
6.335 * [taylor]: Taking taylor expansion of (* lambda1 (pow phi1 2)) in phi2
6.335 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.335 * [backup-simplify]: Simplify lambda1 into lambda1
6.335 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
6.335 * [taylor]: Taking taylor expansion of phi1 in phi2
6.335 * [backup-simplify]: Simplify phi1 into phi1
6.335 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
6.336 * [backup-simplify]: Simplify (* lambda1 (pow phi1 2)) into (* lambda1 (pow phi1 2))
6.336 * [backup-simplify]: Simplify (/ 1 (* lambda1 (pow phi1 2))) into (/ 1 (* lambda1 (pow phi1 2)))
6.336 * [taylor]: Taking taylor expansion of (/ 1 (* (pow phi2 2) lambda1)) in phi2
6.336 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda1) in phi2
6.336 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
6.336 * [taylor]: Taking taylor expansion of phi2 in phi2
6.336 * [backup-simplify]: Simplify 0 into 0
6.336 * [backup-simplify]: Simplify 1 into 1
6.336 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.336 * [backup-simplify]: Simplify lambda1 into lambda1
6.337 * [backup-simplify]: Simplify (* 1 1) into 1
6.337 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
6.337 * [backup-simplify]: Simplify (/ 1 lambda1) into (/ 1 lambda1)
6.337 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 (* lambda1 phi1)))) in phi2
6.337 * [taylor]: Taking taylor expansion of 2 in phi2
6.337 * [backup-simplify]: Simplify 2 into 2
6.337 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 (* lambda1 phi1))) in phi2
6.337 * [taylor]: Taking taylor expansion of (* phi2 (* lambda1 phi1)) in phi2
6.337 * [taylor]: Taking taylor expansion of phi2 in phi2
6.337 * [backup-simplify]: Simplify 0 into 0
6.337 * [backup-simplify]: Simplify 1 into 1
6.337 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi2
6.337 * [taylor]: Taking taylor expansion of lambda1 in phi2
6.337 * [backup-simplify]: Simplify lambda1 into lambda1
6.337 * [taylor]: Taking taylor expansion of phi1 in phi2
6.337 * [backup-simplify]: Simplify phi1 into phi1
6.337 * [backup-simplify]: Simplify (* lambda1 phi1) into (* lambda1 phi1)
6.337 * [backup-simplify]: Simplify (* 0 (* lambda1 phi1)) into 0
6.337 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 phi1)) into 0
6.338 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 phi1))) into (* lambda1 phi1)
6.338 * [backup-simplify]: Simplify (/ 1 (* lambda1 phi1)) into (/ 1 (* lambda1 phi1))
6.338 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.338 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.338 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.338 * [backup-simplify]: Simplify -0.5 into -0.5
6.338 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.338 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.338 * [taylor]: Taking taylor expansion of phi1 in phi2
6.338 * [backup-simplify]: Simplify phi1 into phi1
6.338 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.338 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.339 * [taylor]: Taking taylor expansion of phi2 in phi2
6.339 * [backup-simplify]: Simplify 0 into 0
6.339 * [backup-simplify]: Simplify 1 into 1
6.339 * [backup-simplify]: Simplify (/ 1 1) into 1
6.339 * [backup-simplify]: Simplify (+ 0 1) into 1
6.340 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.340 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.340 * [backup-simplify]: Simplify (+ 0 (/ 1 lambda1)) into (/ 1 lambda1)
6.340 * [backup-simplify]: Simplify (+ (/ 1 lambda1) 0) into (/ 1 lambda1)
6.340 * [backup-simplify]: Simplify (/ (/ 1 lambda1) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.341 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.341 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
6.341 * [backup-simplify]: Simplify (- (+ (* (/ 1 lambda1) (/ 0 lambda1)))) into 0
6.342 * [backup-simplify]: Simplify (+ 0 0) into 0
6.342 * [backup-simplify]: Simplify (* 2 (/ 1 (* lambda1 phi1))) into (/ 2 (* lambda1 phi1))
6.342 * [backup-simplify]: Simplify (- (/ 2 (* lambda1 phi1))) into (- (* 2 (/ 1 (* lambda1 phi1))))
6.342 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 (* lambda1 phi1))))) into (- (* 2 (/ 1 (* lambda1 phi1))))
6.342 * [backup-simplify]: Simplify (- (/ (- (* 2 (/ 1 (* lambda1 phi1)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1)))))
6.343 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1)))))) (* 0 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)))) into (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1))))
6.343 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1)))) in phi1
6.343 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1))) in phi1
6.343 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (* lambda1 phi1)) in phi1
6.343 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.343 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.343 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.343 * [backup-simplify]: Simplify -0.5 into -0.5
6.343 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.343 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.343 * [taylor]: Taking taylor expansion of phi1 in phi1
6.343 * [backup-simplify]: Simplify 0 into 0
6.343 * [backup-simplify]: Simplify 1 into 1
6.343 * [backup-simplify]: Simplify (/ 1 1) into 1
6.343 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.343 * [taylor]: Taking taylor expansion of phi2 in phi1
6.343 * [backup-simplify]: Simplify phi2 into phi2
6.343 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.343 * [backup-simplify]: Simplify (+ 1 0) into 1
6.344 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.344 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.344 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1
6.344 * [taylor]: Taking taylor expansion of lambda1 in phi1
6.344 * [backup-simplify]: Simplify lambda1 into lambda1
6.344 * [taylor]: Taking taylor expansion of phi1 in phi1
6.344 * [backup-simplify]: Simplify 0 into 0
6.344 * [backup-simplify]: Simplify 1 into 1
6.344 * [backup-simplify]: Simplify (* lambda1 0) into 0
6.344 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.344 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1
6.345 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (* 0 0)) into (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)
6.345 * [backup-simplify]: Simplify (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.345 * [backup-simplify]: Simplify (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) into (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)))
6.345 * [taylor]: Taking taylor expansion of (- (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) in lambda1
6.345 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in lambda1
6.345 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in lambda1
6.345 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.345 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.345 * [taylor]: Taking taylor expansion of -0.5 in lambda1
6.345 * [backup-simplify]: Simplify -0.5 into -0.5
6.345 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.345 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.345 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.345 * [backup-simplify]: Simplify phi1 into phi1
6.345 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.345 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.345 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.345 * [backup-simplify]: Simplify phi2 into phi2
6.345 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.346 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.346 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.346 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.346 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.346 * [taylor]: Taking taylor expansion of lambda1 in lambda1
6.346 * [backup-simplify]: Simplify 0 into 0
6.346 * [backup-simplify]: Simplify 1 into 1
6.346 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.346 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.346 * [backup-simplify]: Simplify (- 0) into 0
6.346 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.347 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.347 * [backup-simplify]: Simplify (+ 0) into 0
6.347 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.347 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
6.348 * [backup-simplify]: Simplify (+ 0 0) into 0
6.348 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
6.348 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
6.349 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
6.349 * [backup-simplify]: Simplify (- 0) into 0
6.349 * [backup-simplify]: Simplify (+ 0 0) into 0
6.350 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) (* 0 0)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.350 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.350 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.350 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.351 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
6.351 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
6.351 * [backup-simplify]: Simplify (+ 0 (/ 1 (pow phi1 2))) into (/ 1 (pow phi1 2))
6.352 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
6.352 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
6.352 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0
6.352 * [backup-simplify]: Simplify (- 0) into 0
6.353 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) 0) into (/ 1 (pow phi1 2))
6.353 * [backup-simplify]: Simplify (- (/ (/ 1 (pow phi1 2)) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) (* (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1)))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))
6.354 * [backup-simplify]: Simplify (+ (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) (+ (* 0 (- (* 2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) phi1))))) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))))
6.354 * [taylor]: Taking taylor expansion of (* 1/2 (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)))) in phi1
6.354 * [taylor]: Taking taylor expansion of 1/2 in phi1
6.354 * [backup-simplify]: Simplify 1/2 into 1/2
6.354 * [taylor]: Taking taylor expansion of (/ 1 (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2))) in phi1
6.354 * [taylor]: Taking taylor expansion of (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow phi1 2)) in phi1
6.354 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.354 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.354 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.354 * [backup-simplify]: Simplify -0.5 into -0.5
6.354 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.354 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.354 * [taylor]: Taking taylor expansion of phi1 in phi1
6.354 * [backup-simplify]: Simplify 0 into 0
6.354 * [backup-simplify]: Simplify 1 into 1
6.354 * [backup-simplify]: Simplify (/ 1 1) into 1
6.354 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.354 * [taylor]: Taking taylor expansion of phi2 in phi1
6.355 * [backup-simplify]: Simplify phi2 into phi2
6.355 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.355 * [backup-simplify]: Simplify (+ 1 0) into 1
6.355 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.355 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.355 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
6.355 * [taylor]: Taking taylor expansion of phi1 in phi1
6.355 * [backup-simplify]: Simplify 0 into 0
6.355 * [backup-simplify]: Simplify 1 into 1
6.356 * [backup-simplify]: Simplify (* 1 1) into 1
6.356 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.356 * [backup-simplify]: Simplify (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.356 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
6.357 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
6.357 * [backup-simplify]: Simplify (- (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
6.357 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
6.357 * [taylor]: Taking taylor expansion of 0 in lambda1
6.357 * [backup-simplify]: Simplify 0 into 0
6.357 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) (/ 0 lambda1)))) into 0
6.358 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))) into 0
6.358 * [taylor]: Taking taylor expansion of 0 in phi1
6.358 * [backup-simplify]: Simplify 0 into 0
6.358 * [taylor]: Taking taylor expansion of 0 in phi1
6.358 * [backup-simplify]: Simplify 0 into 0
6.359 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 1) (* 0 0))) into 0
6.359 * [backup-simplify]: Simplify (- (+ (* (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) (/ 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
6.362 * [backup-simplify]: Simplify (- 0) into 0
6.362 * [taylor]: Taking taylor expansion of 0 in lambda1
6.362 * [backup-simplify]: Simplify 0 into 0
6.362 * [backup-simplify]: Simplify (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1))
6.362 * [taylor]: Taking taylor expansion of (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1)) in lambda1
6.362 * [taylor]: Taking taylor expansion of -1 in lambda1
6.362 * [backup-simplify]: Simplify -1 into -1
6.362 * [taylor]: Taking taylor expansion of (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda1) in lambda1
6.362 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
6.362 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
6.362 * [taylor]: Taking taylor expansion of -0.5 in lambda1
6.362 * [backup-simplify]: Simplify -0.5 into -0.5
6.362 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
6.362 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
6.362 * [taylor]: Taking taylor expansion of phi1 in lambda1
6.362 * [backup-simplify]: Simplify phi1 into phi1
6.362 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.362 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
6.362 * [taylor]: Taking taylor expansion of phi2 in lambda1
6.362 * [backup-simplify]: Simplify phi2 into phi2
6.362 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.362 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
6.363 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
6.363 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.363 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.363 * [taylor]: Taking taylor expansion of lambda1 in lambda1
6.363 * [backup-simplify]: Simplify 0 into 0
6.363 * [backup-simplify]: Simplify 1 into 1
6.363 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.363 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
6.363 * [backup-simplify]: Simplify (- 0) into 0
6.364 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.364 * [backup-simplify]: Simplify (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.364 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.364 * [backup-simplify]: Simplify (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (* -1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))
6.364 * [taylor]: Taking taylor expansion of 0 in lambda1
6.364 * [backup-simplify]: Simplify 0 into 0
6.364 * [taylor]: Taking taylor expansion of 0 in lambda1
6.364 * [backup-simplify]: Simplify 0 into 0
6.364 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.364 * [backup-simplify]: Simplify (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into (- (/ 1 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))
6.366 * [backup-simplify]: Simplify (+ (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* 1 (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (/ 1 (- lambda2)))))) (+ (* (* -1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2))))))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1)))) (* (- (/ 1 (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (pow (/ 1 (- lambda2)) 2))))))) into (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))
6.366 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1 1)
6.366 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
6.366 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0
6.366 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
6.366 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
6.366 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.366 * [backup-simplify]: Simplify 0.5 into 0.5
6.366 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
6.366 * [taylor]: Taking taylor expansion of phi2 in phi1
6.366 * [backup-simplify]: Simplify phi2 into phi2
6.366 * [taylor]: Taking taylor expansion of phi1 in phi1
6.366 * [backup-simplify]: Simplify 0 into 0
6.366 * [backup-simplify]: Simplify 1 into 1
6.366 * [backup-simplify]: Simplify (+ phi2 0) into phi2
6.366 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
6.367 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
6.367 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
6.367 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
6.367 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
6.367 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.367 * [backup-simplify]: Simplify 0.5 into 0.5
6.367 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
6.367 * [taylor]: Taking taylor expansion of phi2 in phi2
6.367 * [backup-simplify]: Simplify 0 into 0
6.367 * [backup-simplify]: Simplify 1 into 1
6.367 * [taylor]: Taking taylor expansion of phi1 in phi2
6.367 * [backup-simplify]: Simplify phi1 into phi1
6.367 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
6.367 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
6.367 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
6.367 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
6.367 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
6.367 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
6.367 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.367 * [backup-simplify]: Simplify 0.5 into 0.5
6.367 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
6.367 * [taylor]: Taking taylor expansion of phi2 in phi2
6.367 * [backup-simplify]: Simplify 0 into 0
6.367 * [backup-simplify]: Simplify 1 into 1
6.367 * [taylor]: Taking taylor expansion of phi1 in phi2
6.367 * [backup-simplify]: Simplify phi1 into phi1
6.367 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
6.367 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
6.367 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
6.367 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
6.367 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
6.367 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
6.368 * [backup-simplify]: Simplify (- 0) into 0
6.368 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
6.368 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
6.368 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.368 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.368 * [backup-simplify]: Simplify 0.5 into 0.5
6.368 * [taylor]: Taking taylor expansion of phi1 in phi1
6.368 * [backup-simplify]: Simplify 0 into 0
6.368 * [backup-simplify]: Simplify 1 into 1
6.368 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.369 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.369 * [backup-simplify]: Simplify 1 into 1
6.370 * [backup-simplify]: Simplify (+ 0) into 0
6.370 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
6.370 * [backup-simplify]: Simplify (+ 1 0) into 1
6.370 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
6.372 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
6.372 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
6.372 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
6.372 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
6.372 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1
6.372 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1
6.372 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.372 * [backup-simplify]: Simplify 0.5 into 0.5
6.372 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
6.372 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.372 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.372 * [backup-simplify]: Simplify 0.5 into 0.5
6.372 * [taylor]: Taking taylor expansion of phi1 in phi1
6.372 * [backup-simplify]: Simplify 0 into 0
6.372 * [backup-simplify]: Simplify 1 into 1
6.373 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.374 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.374 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.374 * [backup-simplify]: Simplify (- 0) into 0
6.374 * [backup-simplify]: Simplify 0 into 0
6.374 * [backup-simplify]: Simplify (+ 0) into 0
6.374 * [backup-simplify]: Simplify 0 into 0
6.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
6.377 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
6.377 * [backup-simplify]: Simplify (+ 0 0) into 0
6.377 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
6.378 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
6.378 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
6.378 * [backup-simplify]: Simplify (- 0) into 0
6.379 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
6.379 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1
6.379 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1
6.379 * [taylor]: Taking taylor expansion of 0.125 in phi1
6.379 * [backup-simplify]: Simplify 0.125 into 0.125
6.379 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
6.379 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.379 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.379 * [backup-simplify]: Simplify 0.5 into 0.5
6.379 * [taylor]: Taking taylor expansion of phi1 in phi1
6.379 * [backup-simplify]: Simplify 0 into 0
6.379 * [backup-simplify]: Simplify 1 into 1
6.379 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.380 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.380 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
6.380 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
6.381 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
6.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
6.383 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
6.383 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
6.383 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
6.384 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
6.384 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.384 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
6.384 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.384 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.384 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.384 * [backup-simplify]: Simplify 0.5 into 0.5
6.384 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.384 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.384 * [taylor]: Taking taylor expansion of phi1 in phi1
6.385 * [backup-simplify]: Simplify 0 into 0
6.385 * [backup-simplify]: Simplify 1 into 1
6.385 * [backup-simplify]: Simplify (/ 1 1) into 1
6.385 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.385 * [taylor]: Taking taylor expansion of phi2 in phi1
6.385 * [backup-simplify]: Simplify phi2 into phi2
6.385 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.386 * [backup-simplify]: Simplify (+ 1 0) into 1
6.386 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.386 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.386 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.386 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.386 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.386 * [backup-simplify]: Simplify 0.5 into 0.5
6.386 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.386 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.386 * [taylor]: Taking taylor expansion of phi1 in phi2
6.386 * [backup-simplify]: Simplify phi1 into phi1
6.386 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.387 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.387 * [taylor]: Taking taylor expansion of phi2 in phi2
6.387 * [backup-simplify]: Simplify 0 into 0
6.387 * [backup-simplify]: Simplify 1 into 1
6.387 * [backup-simplify]: Simplify (/ 1 1) into 1
6.387 * [backup-simplify]: Simplify (+ 0 1) into 1
6.388 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.388 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.388 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.388 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.388 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.388 * [backup-simplify]: Simplify 0.5 into 0.5
6.388 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.388 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.388 * [taylor]: Taking taylor expansion of phi1 in phi2
6.388 * [backup-simplify]: Simplify phi1 into phi1
6.388 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.388 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.388 * [taylor]: Taking taylor expansion of phi2 in phi2
6.388 * [backup-simplify]: Simplify 0 into 0
6.388 * [backup-simplify]: Simplify 1 into 1
6.389 * [backup-simplify]: Simplify (/ 1 1) into 1
6.389 * [backup-simplify]: Simplify (+ 0 1) into 1
6.390 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.390 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.390 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.390 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.390 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.390 * [backup-simplify]: Simplify 0.5 into 0.5
6.390 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.390 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.390 * [taylor]: Taking taylor expansion of phi1 in phi1
6.390 * [backup-simplify]: Simplify 0 into 0
6.390 * [backup-simplify]: Simplify 1 into 1
6.391 * [backup-simplify]: Simplify (/ 1 1) into 1
6.391 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.391 * [taylor]: Taking taylor expansion of phi2 in phi1
6.391 * [backup-simplify]: Simplify phi2 into phi2
6.391 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.391 * [backup-simplify]: Simplify (+ 1 0) into 1
6.392 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.392 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.392 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.392 * [taylor]: Taking taylor expansion of 0 in phi1
6.392 * [backup-simplify]: Simplify 0 into 0
6.392 * [backup-simplify]: Simplify 0 into 0
6.392 * [backup-simplify]: Simplify 0 into 0
6.392 * [taylor]: Taking taylor expansion of 0 in phi1
6.392 * [backup-simplify]: Simplify 0 into 0
6.392 * [backup-simplify]: Simplify 0 into 0
6.392 * [backup-simplify]: Simplify 0 into 0
6.392 * [backup-simplify]: Simplify 0 into 0
6.392 * [taylor]: Taking taylor expansion of 0 in phi1
6.393 * [backup-simplify]: Simplify 0 into 0
6.393 * [backup-simplify]: Simplify 0 into 0
6.393 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1)))
6.393 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.393 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
6.393 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.393 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.393 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.393 * [backup-simplify]: Simplify -0.5 into -0.5
6.393 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.393 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.393 * [taylor]: Taking taylor expansion of phi1 in phi1
6.393 * [backup-simplify]: Simplify 0 into 0
6.393 * [backup-simplify]: Simplify 1 into 1
6.394 * [backup-simplify]: Simplify (/ 1 1) into 1
6.394 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.394 * [taylor]: Taking taylor expansion of phi2 in phi1
6.394 * [backup-simplify]: Simplify phi2 into phi2
6.394 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.394 * [backup-simplify]: Simplify (+ 1 0) into 1
6.395 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.395 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.395 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.395 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.395 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.395 * [backup-simplify]: Simplify -0.5 into -0.5
6.395 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.395 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.395 * [taylor]: Taking taylor expansion of phi1 in phi2
6.395 * [backup-simplify]: Simplify phi1 into phi1
6.395 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.395 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.395 * [taylor]: Taking taylor expansion of phi2 in phi2
6.395 * [backup-simplify]: Simplify 0 into 0
6.395 * [backup-simplify]: Simplify 1 into 1
6.396 * [backup-simplify]: Simplify (/ 1 1) into 1
6.396 * [backup-simplify]: Simplify (+ 0 1) into 1
6.397 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.397 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.397 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.397 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.397 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.397 * [backup-simplify]: Simplify -0.5 into -0.5
6.397 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.397 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.397 * [taylor]: Taking taylor expansion of phi1 in phi2
6.397 * [backup-simplify]: Simplify phi1 into phi1
6.397 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.397 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.397 * [taylor]: Taking taylor expansion of phi2 in phi2
6.397 * [backup-simplify]: Simplify 0 into 0
6.397 * [backup-simplify]: Simplify 1 into 1
6.398 * [backup-simplify]: Simplify (/ 1 1) into 1
6.398 * [backup-simplify]: Simplify (+ 0 1) into 1
6.399 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.399 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.399 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.399 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.399 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.399 * [backup-simplify]: Simplify -0.5 into -0.5
6.399 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.399 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.399 * [taylor]: Taking taylor expansion of phi1 in phi1
6.399 * [backup-simplify]: Simplify 0 into 0
6.399 * [backup-simplify]: Simplify 1 into 1
6.399 * [backup-simplify]: Simplify (/ 1 1) into 1
6.400 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.400 * [taylor]: Taking taylor expansion of phi2 in phi1
6.400 * [backup-simplify]: Simplify phi2 into phi2
6.400 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.400 * [backup-simplify]: Simplify (+ 1 0) into 1
6.401 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.401 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.401 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.401 * [taylor]: Taking taylor expansion of 0 in phi1
6.401 * [backup-simplify]: Simplify 0 into 0
6.401 * [backup-simplify]: Simplify 0 into 0
6.401 * [backup-simplify]: Simplify 0 into 0
6.401 * [taylor]: Taking taylor expansion of 0 in phi1
6.401 * [backup-simplify]: Simplify 0 into 0
6.401 * [backup-simplify]: Simplify 0 into 0
6.401 * [backup-simplify]: Simplify 0 into 0
6.401 * [backup-simplify]: Simplify 0 into 0
6.401 * [taylor]: Taking taylor expansion of 0 in phi1
6.401 * [backup-simplify]: Simplify 0 into 0
6.401 * [backup-simplify]: Simplify 0 into 0
6.402 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1)))
6.402 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2 1 1)
6.402 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
6.402 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0
6.402 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
6.402 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
6.402 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.402 * [backup-simplify]: Simplify 0.5 into 0.5
6.402 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
6.402 * [taylor]: Taking taylor expansion of phi2 in phi1
6.402 * [backup-simplify]: Simplify phi2 into phi2
6.402 * [taylor]: Taking taylor expansion of phi1 in phi1
6.402 * [backup-simplify]: Simplify 0 into 0
6.402 * [backup-simplify]: Simplify 1 into 1
6.402 * [backup-simplify]: Simplify (+ phi2 0) into phi2
6.402 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
6.403 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
6.403 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
6.403 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
6.403 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
6.403 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.403 * [backup-simplify]: Simplify 0.5 into 0.5
6.403 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
6.403 * [taylor]: Taking taylor expansion of phi2 in phi2
6.403 * [backup-simplify]: Simplify 0 into 0
6.403 * [backup-simplify]: Simplify 1 into 1
6.403 * [taylor]: Taking taylor expansion of phi1 in phi2
6.403 * [backup-simplify]: Simplify phi1 into phi1
6.403 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
6.403 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
6.403 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
6.403 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
6.403 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
6.403 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
6.403 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.403 * [backup-simplify]: Simplify 0.5 into 0.5
6.403 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
6.403 * [taylor]: Taking taylor expansion of phi2 in phi2
6.404 * [backup-simplify]: Simplify 0 into 0
6.404 * [backup-simplify]: Simplify 1 into 1
6.404 * [taylor]: Taking taylor expansion of phi1 in phi2
6.404 * [backup-simplify]: Simplify phi1 into phi1
6.404 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
6.404 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
6.404 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
6.404 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
6.404 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
6.404 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
6.405 * [backup-simplify]: Simplify (- 0) into 0
6.405 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
6.405 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
6.405 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.405 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.405 * [backup-simplify]: Simplify 0.5 into 0.5
6.405 * [taylor]: Taking taylor expansion of phi1 in phi1
6.405 * [backup-simplify]: Simplify 0 into 0
6.405 * [backup-simplify]: Simplify 1 into 1
6.405 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.407 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.407 * [backup-simplify]: Simplify 1 into 1
6.407 * [backup-simplify]: Simplify (+ 0) into 0
6.408 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
6.408 * [backup-simplify]: Simplify (+ 1 0) into 1
6.409 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
6.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
6.412 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
6.412 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
6.412 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
6.412 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1
6.412 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1
6.412 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.412 * [backup-simplify]: Simplify 0.5 into 0.5
6.412 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
6.412 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.412 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.412 * [backup-simplify]: Simplify 0.5 into 0.5
6.412 * [taylor]: Taking taylor expansion of phi1 in phi1
6.412 * [backup-simplify]: Simplify 0 into 0
6.413 * [backup-simplify]: Simplify 1 into 1
6.413 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.414 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.415 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.415 * [backup-simplify]: Simplify (- 0) into 0
6.415 * [backup-simplify]: Simplify 0 into 0
6.416 * [backup-simplify]: Simplify (+ 0) into 0
6.416 * [backup-simplify]: Simplify 0 into 0
6.419 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
6.420 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
6.420 * [backup-simplify]: Simplify (+ 0 0) into 0
6.421 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
6.422 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
6.422 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
6.423 * [backup-simplify]: Simplify (- 0) into 0
6.423 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
6.423 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1
6.423 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1
6.423 * [taylor]: Taking taylor expansion of 0.125 in phi1
6.423 * [backup-simplify]: Simplify 0.125 into 0.125
6.423 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
6.423 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.423 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.423 * [backup-simplify]: Simplify 0.5 into 0.5
6.423 * [taylor]: Taking taylor expansion of phi1 in phi1
6.423 * [backup-simplify]: Simplify 0 into 0
6.423 * [backup-simplify]: Simplify 1 into 1
6.424 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.425 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.426 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
6.426 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
6.427 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
6.430 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
6.431 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
6.432 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
6.432 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
6.433 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
6.434 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.434 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
6.434 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.434 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.434 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.434 * [backup-simplify]: Simplify 0.5 into 0.5
6.434 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.434 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.434 * [taylor]: Taking taylor expansion of phi1 in phi1
6.434 * [backup-simplify]: Simplify 0 into 0
6.434 * [backup-simplify]: Simplify 1 into 1
6.435 * [backup-simplify]: Simplify (/ 1 1) into 1
6.435 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.435 * [taylor]: Taking taylor expansion of phi2 in phi1
6.435 * [backup-simplify]: Simplify phi2 into phi2
6.435 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.435 * [backup-simplify]: Simplify (+ 1 0) into 1
6.436 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.436 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.436 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.436 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.436 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.436 * [backup-simplify]: Simplify 0.5 into 0.5
6.436 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.436 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.436 * [taylor]: Taking taylor expansion of phi1 in phi2
6.436 * [backup-simplify]: Simplify phi1 into phi1
6.436 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.436 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.436 * [taylor]: Taking taylor expansion of phi2 in phi2
6.436 * [backup-simplify]: Simplify 0 into 0
6.436 * [backup-simplify]: Simplify 1 into 1
6.437 * [backup-simplify]: Simplify (/ 1 1) into 1
6.437 * [backup-simplify]: Simplify (+ 0 1) into 1
6.437 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.438 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.438 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.438 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.438 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.438 * [backup-simplify]: Simplify 0.5 into 0.5
6.438 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.438 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.438 * [taylor]: Taking taylor expansion of phi1 in phi2
6.438 * [backup-simplify]: Simplify phi1 into phi1
6.438 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.438 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.438 * [taylor]: Taking taylor expansion of phi2 in phi2
6.438 * [backup-simplify]: Simplify 0 into 0
6.438 * [backup-simplify]: Simplify 1 into 1
6.439 * [backup-simplify]: Simplify (/ 1 1) into 1
6.439 * [backup-simplify]: Simplify (+ 0 1) into 1
6.439 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.440 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.440 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.440 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.440 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.440 * [backup-simplify]: Simplify 0.5 into 0.5
6.440 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.440 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.440 * [taylor]: Taking taylor expansion of phi1 in phi1
6.440 * [backup-simplify]: Simplify 0 into 0
6.440 * [backup-simplify]: Simplify 1 into 1
6.440 * [backup-simplify]: Simplify (/ 1 1) into 1
6.440 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.440 * [taylor]: Taking taylor expansion of phi2 in phi1
6.440 * [backup-simplify]: Simplify phi2 into phi2
6.440 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.441 * [backup-simplify]: Simplify (+ 1 0) into 1
6.441 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.441 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.441 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.442 * [taylor]: Taking taylor expansion of 0 in phi1
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [taylor]: Taking taylor expansion of 0 in phi1
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [taylor]: Taking taylor expansion of 0 in phi1
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [backup-simplify]: Simplify 0 into 0
6.442 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1)))
6.442 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.442 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
6.442 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.442 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.442 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.442 * [backup-simplify]: Simplify -0.5 into -0.5
6.442 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.443 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.443 * [taylor]: Taking taylor expansion of phi1 in phi1
6.443 * [backup-simplify]: Simplify 0 into 0
6.443 * [backup-simplify]: Simplify 1 into 1
6.443 * [backup-simplify]: Simplify (/ 1 1) into 1
6.443 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.443 * [taylor]: Taking taylor expansion of phi2 in phi1
6.443 * [backup-simplify]: Simplify phi2 into phi2
6.443 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.443 * [backup-simplify]: Simplify (+ 1 0) into 1
6.444 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.444 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.444 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.444 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.444 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.444 * [backup-simplify]: Simplify -0.5 into -0.5
6.444 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.444 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.444 * [taylor]: Taking taylor expansion of phi1 in phi2
6.444 * [backup-simplify]: Simplify phi1 into phi1
6.444 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.444 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.444 * [taylor]: Taking taylor expansion of phi2 in phi2
6.444 * [backup-simplify]: Simplify 0 into 0
6.444 * [backup-simplify]: Simplify 1 into 1
6.445 * [backup-simplify]: Simplify (/ 1 1) into 1
6.445 * [backup-simplify]: Simplify (+ 0 1) into 1
6.445 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.446 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.446 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.446 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.446 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.446 * [backup-simplify]: Simplify -0.5 into -0.5
6.446 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.446 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.446 * [taylor]: Taking taylor expansion of phi1 in phi2
6.446 * [backup-simplify]: Simplify phi1 into phi1
6.446 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.446 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.446 * [taylor]: Taking taylor expansion of phi2 in phi2
6.446 * [backup-simplify]: Simplify 0 into 0
6.446 * [backup-simplify]: Simplify 1 into 1
6.446 * [backup-simplify]: Simplify (/ 1 1) into 1
6.447 * [backup-simplify]: Simplify (+ 0 1) into 1
6.447 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.447 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.447 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.447 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.447 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.447 * [backup-simplify]: Simplify -0.5 into -0.5
6.447 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.448 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.448 * [taylor]: Taking taylor expansion of phi1 in phi1
6.448 * [backup-simplify]: Simplify 0 into 0
6.448 * [backup-simplify]: Simplify 1 into 1
6.448 * [backup-simplify]: Simplify (/ 1 1) into 1
6.448 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.448 * [taylor]: Taking taylor expansion of phi2 in phi1
6.448 * [backup-simplify]: Simplify phi2 into phi2
6.448 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.448 * [backup-simplify]: Simplify (+ 1 0) into 1
6.449 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.449 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.449 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.449 * [taylor]: Taking taylor expansion of 0 in phi1
6.449 * [backup-simplify]: Simplify 0 into 0
6.449 * [backup-simplify]: Simplify 0 into 0
6.449 * [backup-simplify]: Simplify 0 into 0
6.449 * [taylor]: Taking taylor expansion of 0 in phi1
6.449 * [backup-simplify]: Simplify 0 into 0
6.449 * [backup-simplify]: Simplify 0 into 0
6.449 * [backup-simplify]: Simplify 0 into 0
6.449 * [backup-simplify]: Simplify 0 into 0
6.450 * [taylor]: Taking taylor expansion of 0 in phi1
6.450 * [backup-simplify]: Simplify 0 into 0
6.450 * [backup-simplify]: Simplify 0 into 0
6.450 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1)))
6.450 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 1 1 2 1)
6.450 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
6.450 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0
6.450 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
6.450 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
6.450 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.450 * [backup-simplify]: Simplify 0.5 into 0.5
6.450 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
6.450 * [taylor]: Taking taylor expansion of phi2 in phi1
6.450 * [backup-simplify]: Simplify phi2 into phi2
6.450 * [taylor]: Taking taylor expansion of phi1 in phi1
6.450 * [backup-simplify]: Simplify 0 into 0
6.450 * [backup-simplify]: Simplify 1 into 1
6.450 * [backup-simplify]: Simplify (+ phi2 0) into phi2
6.450 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
6.450 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
6.451 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
6.451 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
6.451 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
6.451 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.451 * [backup-simplify]: Simplify 0.5 into 0.5
6.451 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
6.451 * [taylor]: Taking taylor expansion of phi2 in phi2
6.451 * [backup-simplify]: Simplify 0 into 0
6.451 * [backup-simplify]: Simplify 1 into 1
6.451 * [taylor]: Taking taylor expansion of phi1 in phi2
6.451 * [backup-simplify]: Simplify phi1 into phi1
6.451 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
6.451 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
6.451 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
6.451 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
6.451 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
6.451 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
6.451 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.451 * [backup-simplify]: Simplify 0.5 into 0.5
6.451 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
6.451 * [taylor]: Taking taylor expansion of phi2 in phi2
6.451 * [backup-simplify]: Simplify 0 into 0
6.451 * [backup-simplify]: Simplify 1 into 1
6.451 * [taylor]: Taking taylor expansion of phi1 in phi2
6.451 * [backup-simplify]: Simplify phi1 into phi1
6.451 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
6.451 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
6.451 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
6.452 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
6.452 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
6.452 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
6.452 * [backup-simplify]: Simplify (- 0) into 0
6.452 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
6.452 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
6.452 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.452 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.452 * [backup-simplify]: Simplify 0.5 into 0.5
6.452 * [taylor]: Taking taylor expansion of phi1 in phi1
6.452 * [backup-simplify]: Simplify 0 into 0
6.452 * [backup-simplify]: Simplify 1 into 1
6.453 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.454 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.454 * [backup-simplify]: Simplify 1 into 1
6.454 * [backup-simplify]: Simplify (+ 0) into 0
6.455 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
6.455 * [backup-simplify]: Simplify (+ 1 0) into 1
6.456 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
6.458 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
6.458 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
6.458 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
6.459 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
6.459 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1
6.459 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1
6.459 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.459 * [backup-simplify]: Simplify 0.5 into 0.5
6.459 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
6.459 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.459 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.459 * [backup-simplify]: Simplify 0.5 into 0.5
6.459 * [taylor]: Taking taylor expansion of phi1 in phi1
6.459 * [backup-simplify]: Simplify 0 into 0
6.459 * [backup-simplify]: Simplify 1 into 1
6.459 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.461 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.461 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.461 * [backup-simplify]: Simplify (- 0) into 0
6.462 * [backup-simplify]: Simplify 0 into 0
6.462 * [backup-simplify]: Simplify (+ 0) into 0
6.462 * [backup-simplify]: Simplify 0 into 0
6.465 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
6.466 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
6.466 * [backup-simplify]: Simplify (+ 0 0) into 0
6.467 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
6.467 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
6.468 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
6.468 * [backup-simplify]: Simplify (- 0) into 0
6.469 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
6.469 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1
6.469 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1
6.469 * [taylor]: Taking taylor expansion of 0.125 in phi1
6.469 * [backup-simplify]: Simplify 0.125 into 0.125
6.469 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
6.469 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
6.469 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.469 * [backup-simplify]: Simplify 0.5 into 0.5
6.469 * [taylor]: Taking taylor expansion of phi1 in phi1
6.469 * [backup-simplify]: Simplify 0 into 0
6.469 * [backup-simplify]: Simplify 1 into 1
6.469 * [backup-simplify]: Simplify (* 0.5 0) into 0
6.471 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
6.471 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
6.471 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
6.472 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
6.474 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
6.475 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
6.475 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
6.476 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
6.477 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
6.477 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.477 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
6.477 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.477 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.477 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.477 * [backup-simplify]: Simplify 0.5 into 0.5
6.477 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.477 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.477 * [taylor]: Taking taylor expansion of phi1 in phi1
6.477 * [backup-simplify]: Simplify 0 into 0
6.477 * [backup-simplify]: Simplify 1 into 1
6.478 * [backup-simplify]: Simplify (/ 1 1) into 1
6.478 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.478 * [taylor]: Taking taylor expansion of phi2 in phi1
6.478 * [backup-simplify]: Simplify phi2 into phi2
6.478 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.478 * [backup-simplify]: Simplify (+ 1 0) into 1
6.479 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.479 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.479 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.479 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.479 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.479 * [backup-simplify]: Simplify 0.5 into 0.5
6.479 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.479 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.479 * [taylor]: Taking taylor expansion of phi1 in phi2
6.479 * [backup-simplify]: Simplify phi1 into phi1
6.479 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.479 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.479 * [taylor]: Taking taylor expansion of phi2 in phi2
6.479 * [backup-simplify]: Simplify 0 into 0
6.479 * [backup-simplify]: Simplify 1 into 1
6.480 * [backup-simplify]: Simplify (/ 1 1) into 1
6.480 * [backup-simplify]: Simplify (+ 0 1) into 1
6.480 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.481 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.481 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.481 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.481 * [taylor]: Taking taylor expansion of 0.5 in phi2
6.481 * [backup-simplify]: Simplify 0.5 into 0.5
6.481 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.481 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.481 * [taylor]: Taking taylor expansion of phi1 in phi2
6.481 * [backup-simplify]: Simplify phi1 into phi1
6.481 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.481 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.481 * [taylor]: Taking taylor expansion of phi2 in phi2
6.481 * [backup-simplify]: Simplify 0 into 0
6.481 * [backup-simplify]: Simplify 1 into 1
6.481 * [backup-simplify]: Simplify (/ 1 1) into 1
6.482 * [backup-simplify]: Simplify (+ 0 1) into 1
6.482 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.483 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.483 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.483 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.483 * [taylor]: Taking taylor expansion of 0.5 in phi1
6.483 * [backup-simplify]: Simplify 0.5 into 0.5
6.483 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.483 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.483 * [taylor]: Taking taylor expansion of phi1 in phi1
6.483 * [backup-simplify]: Simplify 0 into 0
6.483 * [backup-simplify]: Simplify 1 into 1
6.483 * [backup-simplify]: Simplify (/ 1 1) into 1
6.483 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.484 * [taylor]: Taking taylor expansion of phi2 in phi1
6.484 * [backup-simplify]: Simplify phi2 into phi2
6.484 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.484 * [backup-simplify]: Simplify (+ 1 0) into 1
6.485 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
6.485 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.485 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.485 * [taylor]: Taking taylor expansion of 0 in phi1
6.485 * [backup-simplify]: Simplify 0 into 0
6.485 * [backup-simplify]: Simplify 0 into 0
6.486 * [backup-simplify]: Simplify 0 into 0
6.486 * [taylor]: Taking taylor expansion of 0 in phi1
6.486 * [backup-simplify]: Simplify 0 into 0
6.486 * [backup-simplify]: Simplify 0 into 0
6.486 * [backup-simplify]: Simplify 0 into 0
6.486 * [backup-simplify]: Simplify 0 into 0
6.486 * [taylor]: Taking taylor expansion of 0 in phi1
6.486 * [backup-simplify]: Simplify 0 into 0
6.486 * [backup-simplify]: Simplify 0 into 0
6.486 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1)))
6.486 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.486 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
6.486 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.486 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.486 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.486 * [backup-simplify]: Simplify -0.5 into -0.5
6.486 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.487 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.487 * [taylor]: Taking taylor expansion of phi1 in phi1
6.487 * [backup-simplify]: Simplify 0 into 0
6.487 * [backup-simplify]: Simplify 1 into 1
6.487 * [backup-simplify]: Simplify (/ 1 1) into 1
6.487 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.487 * [taylor]: Taking taylor expansion of phi2 in phi1
6.487 * [backup-simplify]: Simplify phi2 into phi2
6.487 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.488 * [backup-simplify]: Simplify (+ 1 0) into 1
6.488 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.488 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.488 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.488 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.488 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.488 * [backup-simplify]: Simplify -0.5 into -0.5
6.488 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.488 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.488 * [taylor]: Taking taylor expansion of phi1 in phi2
6.488 * [backup-simplify]: Simplify phi1 into phi1
6.488 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.488 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.489 * [taylor]: Taking taylor expansion of phi2 in phi2
6.489 * [backup-simplify]: Simplify 0 into 0
6.489 * [backup-simplify]: Simplify 1 into 1
6.489 * [backup-simplify]: Simplify (/ 1 1) into 1
6.489 * [backup-simplify]: Simplify (+ 0 1) into 1
6.490 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.490 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.490 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
6.490 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
6.490 * [taylor]: Taking taylor expansion of -0.5 in phi2
6.490 * [backup-simplify]: Simplify -0.5 into -0.5
6.490 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
6.490 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
6.490 * [taylor]: Taking taylor expansion of phi1 in phi2
6.490 * [backup-simplify]: Simplify phi1 into phi1
6.490 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
6.490 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
6.490 * [taylor]: Taking taylor expansion of phi2 in phi2
6.490 * [backup-simplify]: Simplify 0 into 0
6.490 * [backup-simplify]: Simplify 1 into 1
6.491 * [backup-simplify]: Simplify (/ 1 1) into 1
6.491 * [backup-simplify]: Simplify (+ 0 1) into 1
6.491 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.492 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.492 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
6.492 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
6.492 * [taylor]: Taking taylor expansion of -0.5 in phi1
6.492 * [backup-simplify]: Simplify -0.5 into -0.5
6.492 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
6.492 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
6.492 * [taylor]: Taking taylor expansion of phi1 in phi1
6.492 * [backup-simplify]: Simplify 0 into 0
6.492 * [backup-simplify]: Simplify 1 into 1
6.492 * [backup-simplify]: Simplify (/ 1 1) into 1
6.492 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
6.492 * [taylor]: Taking taylor expansion of phi2 in phi1
6.492 * [backup-simplify]: Simplify phi2 into phi2
6.492 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
6.493 * [backup-simplify]: Simplify (+ 1 0) into 1
6.493 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
6.493 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.494 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
6.494 * [taylor]: Taking taylor expansion of 0 in phi1
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [taylor]: Taking taylor expansion of 0 in phi1
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [taylor]: Taking taylor expansion of 0 in phi1
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [backup-simplify]: Simplify 0 into 0
6.494 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1)))
6.494 * * * [progress]: simplifying candidates
6.498 * [simplify]: Simplifying:
  (log (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (exp (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (* (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (* (cbrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (sqrt (cbrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt 1)
  (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- phi1 phi2) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ phi1 phi2)) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (+ phi1 phi2)))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ phi1 phi2)) (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (+ phi1 phi2)))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ phi1 phi2)) (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ phi1 phi2)) (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)))
  (sqrt (+ (pow (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3) (pow (* (- phi1 phi2) (- phi1 phi2)) 3)))
  (sqrt (+ (* (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (- (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2))) (* (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (sqrt (- (* (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (- (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  (/ 1 2)
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (- lambda1 lambda2)
  (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))
  (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
6.513 * * [simplify]: Extracting # 0 : cost  0
6.513 * * [simplify]: Extracting # 1 : cost  0
6.513 * * [simplify]: Extracting # 2 : cost  0
6.514 * * [simplify]: Extracting # 3 : cost  0
6.514 * * [simplify]: Extracting # 4 : cost  0
6.515 * * [simplify]: Extracting # 5 : cost  0
6.515 * * [simplify]: Extracting # 6 : cost  0
6.516 * * [simplify]: Extracting # 7 : cost  0
6.516 * * [simplify]: Extracting # 8 : cost  0
6.517 * * [simplify]: Extracting # 9 : cost  0
6.517 * * [simplify]: Extracting # 10 : cost  0
6.517 * * [simplify]: Extracting # 11 : cost  0
6.518 * * [simplify]: iteration  0 :  210  enodes  (cost  5872 )
6.575 * * [simplify]: Extracting # 0 : cost  0
6.575 * * [simplify]: Extracting # 1 : cost  0
6.576 * * [simplify]: Extracting # 2 : cost  0
6.577 * * [simplify]: Extracting # 3 : cost  0
6.577 * * [simplify]: Extracting # 4 : cost  0
6.578 * * [simplify]: Extracting # 5 : cost  0
6.579 * * [simplify]: iteration  1 :  550  enodes  (cost  5441 )
6.915 * * [simplify]: Extracting # 0 : cost  0
6.925 * * [simplify]: Extracting # 1 : cost  0
6.930 * * [simplify]: Extracting # 2 : cost  0
6.935 * * [simplify]: Extracting # 3 : cost  0
6.939 * * [simplify]: Extracting # 4 : cost  0
6.943 * * [simplify]: Extracting # 5 : cost  0
6.948 * * [simplify]: Extracting # 6 : cost  0
6.953 * * [simplify]: iteration  2 :  3037  enodes  (cost  4389 )
8.212 * * [simplify]: Extracting # 0 : cost  0
8.218 * * [simplify]: Extracting # 1 : cost  0
8.225 * * [simplify]: Extracting # 2 : cost  0
8.232 * * [simplify]: Extracting # 3 : cost  0
8.239 * * [simplify]: Extracting # 4 : cost  0
8.251 * * [simplify]: iteration done:  5001  enodes  (cost  4387 )
8.252 * [simplify]: Simplified to:
  (log (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (exp (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (* (cbrt (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (cbrt (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))
  (cbrt (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (pow (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) 3)
  (fabs (cbrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (cbrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  1
  (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (sqrt (+ (* (- (pow phi1 3) (pow phi2 3)) (* (- (pow phi1 3) (pow phi2 3)) (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))))) (* (* (+ (* -8 (pow (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 3)) (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) 3)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (+ (* (- (pow phi1 3) (pow phi2 3)) (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (- (* phi1 phi1) (* phi2 phi2)))) (* (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ phi2 phi1)) (+ (* -8 (pow (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 3)) (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) 3)))))
  (sqrt (* (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ phi2 phi1)) (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))))))
  (sqrt (+ (* (- (pow phi1 3) (pow phi2 3)) (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (- (* phi1 phi1) (* phi2 phi2)))) (* (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ phi2 phi1)) (+ (* -8 (pow (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 3)) (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) 3)))))
  (sqrt (* (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ phi2 phi1)) (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))))))
  (sqrt (+ (* (+ (* -8 (pow (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 3)) (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) 3)) (* (+ phi1 phi2) (+ phi1 phi2))) (* (* (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (- (* phi1 phi1) (* phi2 phi2))) (+ phi2 phi1)) (- phi1 phi2))))
  (sqrt (* (* (+ phi1 phi2) (+ phi1 phi2)) (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))))))
  (sqrt (+ (* (+ (* -8 (pow (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 3)) (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) 3)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))) (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))))))
  (sqrt (+ (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))) (* (+ (* -8 (pow (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 3)) (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) 3)) (+ phi1 phi2))))
  (sqrt (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (+ phi2 phi1)))
  (sqrt (+ (* (+ (* -8 (pow (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 3)) (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) 3)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))) (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))))))
  (sqrt (+ (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))) (* (+ (* -8 (pow (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 3)) (pow (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) 3)) (+ phi1 phi2))))
  (sqrt (* (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (+ phi2 phi1)))
  (sqrt (+ (* (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))) (+ (* -4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))))) (* (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))
  (sqrt (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (+ (* (+ phi2 phi1) (* (+ (* -4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ phi2 phi1))))
  (sqrt (+ (* (+ phi2 phi1) (* (+ (* -4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ phi2 phi1))))
  (sqrt (+ (* (* (+ phi1 phi2) (+ phi1 phi2)) (+ (* -4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))))) (* (* (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (* phi1 phi1) (* phi2 phi2))) (+ phi2 phi1)) (- phi1 phi2))))
  (sqrt (* (* (+ phi1 phi2) (+ phi1 phi2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (+ (* (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* -4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))))
  (sqrt (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))) (* (+ (* -4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (+ phi2 phi1))))
  (sqrt (* (+ phi2 phi1) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (+ (* (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* -4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))))
  (sqrt (+ (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2))) (* (+ (* -4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))))) (+ phi2 phi1))))
  (sqrt (* (+ phi2 phi1) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (+ (pow (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3) (pow (- phi1 phi2) 6)))
  (sqrt (+ (* (- phi1 phi2) (- (pow (- phi1 phi2) 3) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- phi1 phi2)))) (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))
  (sqrt (- (* (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (pow (- phi1 phi2) (+ 3 1))))
  (sqrt (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (- phi1 phi2) (- phi1 phi2)))))
  1/2
  (sqrt (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (sqrt (- (+ (* (- phi1 phi2) (- phi1 phi2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (+ (pow lambda2 2) (pow lambda1 2)))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (pow (cos (* 0.5 (+ phi2 phi1))) 3)
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (pow (cos (* 0.5 (+ phi2 phi1))) 3)
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (pow (cos (* 0.5 (+ phi2 phi1))) 3)
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (- lambda1 lambda2)
  (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))
  (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
8.253 * * * [progress]: adding candidates to table
8.921 * * [progress]: iteration 3 / 4
8.921 * * * [progress]: picking best candidate
8.972 * * * * [pick]: Picked  #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))>
8.972 * * * [progress]: localizing error
9.041 * * * [progress]: generating rewritten candidates
9.041 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2)
10.029 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1 1)
10.039 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1 1 2 1 1)
10.049 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1)
10.617 * * * [progress]: generating series expansions
10.617 * * * * [progress]: [ 1 / 4 ] generating series at (2 2)
10.621 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))
10.621 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in (lambda2 phi2 phi1 lambda1) around 0
10.621 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda1
10.621 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1
10.622 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in lambda1
10.622 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1
10.622 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
10.622 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
10.622 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
10.622 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.622 * [backup-simplify]: Simplify 0.5 into 0.5
10.622 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
10.622 * [taylor]: Taking taylor expansion of phi2 in lambda1
10.622 * [backup-simplify]: Simplify phi2 into phi2
10.622 * [taylor]: Taking taylor expansion of phi1 in lambda1
10.622 * [backup-simplify]: Simplify phi1 into phi1
10.622 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
10.622 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
10.622 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
10.622 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
10.622 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
10.623 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
10.623 * [backup-simplify]: Simplify (- 0) into 0
10.623 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
10.623 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
10.623 * [taylor]: Taking taylor expansion of lambda1 in lambda1
10.623 * [backup-simplify]: Simplify 0 into 0
10.624 * [backup-simplify]: Simplify 1 into 1
10.624 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda1
10.624 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
10.624 * [taylor]: Taking taylor expansion of phi2 in lambda1
10.624 * [backup-simplify]: Simplify phi2 into phi2
10.624 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda1
10.624 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1
10.624 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1
10.624 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
10.624 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
10.624 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.624 * [backup-simplify]: Simplify 0.5 into 0.5
10.624 * [taylor]: Taking taylor expansion of phi2 in lambda1
10.624 * [backup-simplify]: Simplify phi2 into phi2
10.624 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.624 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.624 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.624 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.624 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.625 * [backup-simplify]: Simplify (- 0) into 0
10.625 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.625 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1
10.625 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1
10.625 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
10.625 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
10.625 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.625 * [backup-simplify]: Simplify 0.5 into 0.5
10.625 * [taylor]: Taking taylor expansion of phi1 in lambda1
10.625 * [backup-simplify]: Simplify phi1 into phi1
10.625 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.625 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.625 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.625 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.625 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.626 * [backup-simplify]: Simplify (- 0) into 0
10.626 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.626 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
10.626 * [taylor]: Taking taylor expansion of lambda2 in lambda1
10.626 * [backup-simplify]: Simplify lambda2 into lambda2
10.626 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda1
10.626 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
10.626 * [taylor]: Taking taylor expansion of phi1 in lambda1
10.626 * [backup-simplify]: Simplify phi1 into phi1
10.626 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1
10.626 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1
10.626 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
10.626 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
10.627 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.627 * [backup-simplify]: Simplify 0.5 into 0.5
10.627 * [taylor]: Taking taylor expansion of phi2 in lambda1
10.627 * [backup-simplify]: Simplify phi2 into phi2
10.627 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.627 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.627 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.627 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
10.627 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
10.628 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
10.628 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1
10.628 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
10.628 * [taylor]: Taking taylor expansion of lambda2 in lambda1
10.628 * [backup-simplify]: Simplify lambda2 into lambda2
10.628 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1
10.628 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
10.628 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
10.628 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.628 * [backup-simplify]: Simplify 0.5 into 0.5
10.628 * [taylor]: Taking taylor expansion of phi1 in lambda1
10.628 * [backup-simplify]: Simplify phi1 into phi1
10.628 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.628 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.628 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.628 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
10.628 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
10.628 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
10.628 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1
10.629 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda1
10.629 * [taylor]: Taking taylor expansion of 2 in lambda1
10.629 * [backup-simplify]: Simplify 2 into 2
10.629 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda1
10.629 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
10.629 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
10.629 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.629 * [backup-simplify]: Simplify 0.5 into 0.5
10.629 * [taylor]: Taking taylor expansion of phi2 in lambda1
10.629 * [backup-simplify]: Simplify phi2 into phi2
10.629 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.629 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.629 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.629 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1
10.629 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
10.629 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
10.629 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.629 * [backup-simplify]: Simplify 0.5 into 0.5
10.629 * [taylor]: Taking taylor expansion of phi2 in lambda1
10.629 * [backup-simplify]: Simplify phi2 into phi2
10.629 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.629 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.630 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.630 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1
10.630 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
10.630 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
10.630 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.630 * [backup-simplify]: Simplify 0.5 into 0.5
10.630 * [taylor]: Taking taylor expansion of phi1 in lambda1
10.630 * [backup-simplify]: Simplify phi1 into phi1
10.630 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.630 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.630 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.630 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1
10.630 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
10.630 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
10.630 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.630 * [backup-simplify]: Simplify 0.5 into 0.5
10.630 * [taylor]: Taking taylor expansion of phi1 in lambda1
10.630 * [backup-simplify]: Simplify phi1 into phi1
10.630 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.630 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.630 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.630 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
10.631 * [taylor]: Taking taylor expansion of lambda2 in lambda1
10.631 * [backup-simplify]: Simplify lambda2 into lambda2
10.631 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1
10.631 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1
10.631 * [taylor]: Taking taylor expansion of 2 in lambda1
10.631 * [backup-simplify]: Simplify 2 into 2
10.631 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
10.631 * [taylor]: Taking taylor expansion of phi2 in lambda1
10.631 * [backup-simplify]: Simplify phi2 into phi2
10.631 * [taylor]: Taking taylor expansion of phi1 in lambda1
10.631 * [backup-simplify]: Simplify phi1 into phi1
10.631 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1
10.631 * [taylor]: Taking taylor expansion of 2 in lambda1
10.631 * [backup-simplify]: Simplify 2 into 2
10.631 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1
10.631 * [taylor]: Taking taylor expansion of lambda2 in lambda1
10.631 * [backup-simplify]: Simplify lambda2 into lambda2
10.631 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1
10.631 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
10.631 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
10.631 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
10.631 * [taylor]: Taking taylor expansion of 0.5 in lambda1
10.631 * [backup-simplify]: Simplify 0.5 into 0.5
10.631 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
10.631 * [taylor]: Taking taylor expansion of phi2 in lambda1
10.631 * [backup-simplify]: Simplify phi2 into phi2
10.631 * [taylor]: Taking taylor expansion of phi1 in lambda1
10.631 * [backup-simplify]: Simplify phi1 into phi1
10.631 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
10.631 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
10.632 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
10.632 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
10.632 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
10.632 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
10.632 * [backup-simplify]: Simplify (- 0) into 0
10.633 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
10.633 * [taylor]: Taking taylor expansion of lambda1 in lambda1
10.633 * [backup-simplify]: Simplify 0 into 0
10.633 * [backup-simplify]: Simplify 1 into 1
10.633 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
10.633 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
10.633 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
10.633 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
10.634 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))
10.634 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))
10.634 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
10.634 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
10.634 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
10.634 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
10.635 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))
10.635 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))
10.636 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (pow phi1 2))
10.637 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))
10.639 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))
10.642 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (pow phi1 2))))
10.642 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.642 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.642 * [backup-simplify]: Simplify (- 0) into 0
10.643 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.643 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
10.643 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
10.643 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
10.643 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.643 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.644 * [backup-simplify]: Simplify (- 0) into 0
10.644 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.644 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
10.644 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
10.644 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
10.644 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
10.644 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2))
10.645 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))
10.645 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1)))))
10.646 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1)))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))
10.646 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))
10.646 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
10.646 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
10.646 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
10.647 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0
10.647 * [backup-simplify]: Simplify (* lambda2 0) into 0
10.647 * [backup-simplify]: Simplify (* 2 0) into 0
10.647 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
10.648 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))) into (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))
10.650 * [backup-simplify]: Simplify (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) into (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))
10.653 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (pow phi1 2)))) (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))
10.656 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))
10.657 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
10.657 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
10.657 * [backup-simplify]: Simplify (+ 0) into 0
10.658 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
10.658 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
10.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.660 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
10.660 * [backup-simplify]: Simplify (- 0) into 0
10.660 * [backup-simplify]: Simplify (+ 0 0) into 0
10.661 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
10.661 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0
10.661 * [backup-simplify]: Simplify (+ 0) into 0
10.662 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
10.662 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
10.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.664 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
10.664 * [backup-simplify]: Simplify (- 0) into 0
10.664 * [backup-simplify]: Simplify (+ 0 0) into 0
10.665 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
10.665 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0
10.665 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
10.666 * [backup-simplify]: Simplify (+ 0) into 0
10.666 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
10.667 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
10.667 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.668 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
10.668 * [backup-simplify]: Simplify (+ 0 0) into 0
10.669 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0
10.669 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
10.669 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0
10.669 * [backup-simplify]: Simplify (+ 0) into 0
10.670 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
10.670 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
10.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.672 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
10.672 * [backup-simplify]: Simplify (+ 0 0) into 0
10.672 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
10.673 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0
10.673 * [backup-simplify]: Simplify (+ 0 0) into 0
10.673 * [backup-simplify]: Simplify (+ 0 0) into 0
10.674 * [backup-simplify]: Simplify (+ 0 0) into 0
10.674 * [backup-simplify]: Simplify (+ 0 0) into 0
10.674 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
10.675 * [backup-simplify]: Simplify (+ 0) into 0
10.675 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
10.676 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
10.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.677 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
10.677 * [backup-simplify]: Simplify (+ 0 0) into 0
10.678 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0
10.678 * [backup-simplify]: Simplify (+ 0) into 0
10.679 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
10.679 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
10.680 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.680 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
10.681 * [backup-simplify]: Simplify (- 0) into 0
10.681 * [backup-simplify]: Simplify (+ 0 0) into 0
10.681 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0
10.682 * [backup-simplify]: Simplify (+ 0) into 0
10.682 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
10.683 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
10.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.684 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
10.684 * [backup-simplify]: Simplify (+ 0 0) into 0
10.685 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0
10.685 * [backup-simplify]: Simplify (+ 0) into 0
10.686 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
10.686 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
10.687 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.687 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
10.688 * [backup-simplify]: Simplify (- 0) into 0
10.688 * [backup-simplify]: Simplify (+ 0 0) into 0
10.689 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1))))))) into 0
10.690 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into 0
10.690 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
10.691 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
10.691 * [backup-simplify]: Simplify (+ 0) into 0
10.692 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
10.692 * [backup-simplify]: Simplify (+ 0 0) into 0
10.692 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
10.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.694 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
10.694 * [backup-simplify]: Simplify (- 0) into 0
10.694 * [backup-simplify]: Simplify (+ 0 0) into 0
10.695 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
10.696 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
10.696 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))
10.697 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
10.697 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
10.698 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
10.698 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
10.699 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
10.702 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
10.703 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi1
10.703 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1
10.703 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in phi1
10.703 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1
10.703 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
10.703 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
10.703 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
10.703 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.703 * [backup-simplify]: Simplify 0.5 into 0.5
10.703 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
10.703 * [taylor]: Taking taylor expansion of phi2 in phi1
10.703 * [backup-simplify]: Simplify phi2 into phi2
10.703 * [taylor]: Taking taylor expansion of phi1 in phi1
10.703 * [backup-simplify]: Simplify 0 into 0
10.703 * [backup-simplify]: Simplify 1 into 1
10.703 * [backup-simplify]: Simplify (+ phi2 0) into phi2
10.703 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.703 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.703 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.703 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.704 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.704 * [backup-simplify]: Simplify (- 0) into 0
10.704 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.704 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
10.704 * [taylor]: Taking taylor expansion of lambda1 in phi1
10.704 * [backup-simplify]: Simplify lambda1 into lambda1
10.704 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in phi1
10.704 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
10.704 * [taylor]: Taking taylor expansion of phi2 in phi1
10.704 * [backup-simplify]: Simplify phi2 into phi2
10.705 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi1
10.705 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1
10.705 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1
10.705 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
10.705 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
10.705 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.705 * [backup-simplify]: Simplify 0.5 into 0.5
10.705 * [taylor]: Taking taylor expansion of phi2 in phi1
10.705 * [backup-simplify]: Simplify phi2 into phi2
10.705 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.705 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.705 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.705 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.705 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.706 * [backup-simplify]: Simplify (- 0) into 0
10.706 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.706 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1
10.706 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
10.706 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
10.706 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.706 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.706 * [backup-simplify]: Simplify 0.5 into 0.5
10.706 * [taylor]: Taking taylor expansion of phi1 in phi1
10.706 * [backup-simplify]: Simplify 0 into 0
10.706 * [backup-simplify]: Simplify 1 into 1
10.706 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.708 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.708 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
10.708 * [taylor]: Taking taylor expansion of lambda2 in phi1
10.708 * [backup-simplify]: Simplify lambda2 into lambda2
10.708 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi1
10.708 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
10.708 * [taylor]: Taking taylor expansion of phi1 in phi1
10.708 * [backup-simplify]: Simplify 0 into 0
10.708 * [backup-simplify]: Simplify 1 into 1
10.708 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1
10.708 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1
10.708 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
10.708 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
10.708 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.708 * [backup-simplify]: Simplify 0.5 into 0.5
10.708 * [taylor]: Taking taylor expansion of phi2 in phi1
10.708 * [backup-simplify]: Simplify phi2 into phi2
10.708 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.709 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.709 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.709 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
10.709 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
10.709 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
10.709 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1
10.709 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
10.709 * [taylor]: Taking taylor expansion of lambda2 in phi1
10.709 * [backup-simplify]: Simplify lambda2 into lambda2
10.709 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
10.709 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
10.709 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.709 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.710 * [backup-simplify]: Simplify 0.5 into 0.5
10.710 * [taylor]: Taking taylor expansion of phi1 in phi1
10.710 * [backup-simplify]: Simplify 0 into 0
10.710 * [backup-simplify]: Simplify 1 into 1
10.710 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.711 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.714 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1
10.714 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi1
10.714 * [taylor]: Taking taylor expansion of 2 in phi1
10.714 * [backup-simplify]: Simplify 2 into 2
10.714 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1
10.714 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
10.714 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
10.714 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.714 * [backup-simplify]: Simplify 0.5 into 0.5
10.714 * [taylor]: Taking taylor expansion of phi2 in phi1
10.714 * [backup-simplify]: Simplify phi2 into phi2
10.714 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.714 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.714 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.714 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1
10.714 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
10.714 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
10.714 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.714 * [backup-simplify]: Simplify 0.5 into 0.5
10.714 * [taylor]: Taking taylor expansion of phi2 in phi1
10.714 * [backup-simplify]: Simplify phi2 into phi2
10.714 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.714 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.715 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.715 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1
10.715 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
10.715 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.715 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.715 * [backup-simplify]: Simplify 0.5 into 0.5
10.715 * [taylor]: Taking taylor expansion of phi1 in phi1
10.715 * [backup-simplify]: Simplify 0 into 0
10.715 * [backup-simplify]: Simplify 1 into 1
10.715 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.717 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.717 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1
10.717 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
10.717 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.717 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.717 * [backup-simplify]: Simplify 0.5 into 0.5
10.717 * [taylor]: Taking taylor expansion of phi1 in phi1
10.717 * [backup-simplify]: Simplify 0 into 0
10.717 * [backup-simplify]: Simplify 1 into 1
10.717 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.718 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.719 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
10.719 * [taylor]: Taking taylor expansion of lambda2 in phi1
10.719 * [backup-simplify]: Simplify lambda2 into lambda2
10.719 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1
10.719 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1
10.719 * [taylor]: Taking taylor expansion of 2 in phi1
10.719 * [backup-simplify]: Simplify 2 into 2
10.719 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
10.719 * [taylor]: Taking taylor expansion of phi2 in phi1
10.719 * [backup-simplify]: Simplify phi2 into phi2
10.719 * [taylor]: Taking taylor expansion of phi1 in phi1
10.719 * [backup-simplify]: Simplify 0 into 0
10.719 * [backup-simplify]: Simplify 1 into 1
10.719 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1
10.719 * [taylor]: Taking taylor expansion of 2 in phi1
10.719 * [backup-simplify]: Simplify 2 into 2
10.719 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1
10.719 * [taylor]: Taking taylor expansion of lambda2 in phi1
10.719 * [backup-simplify]: Simplify lambda2 into lambda2
10.719 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1
10.719 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
10.719 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
10.719 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
10.719 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.719 * [backup-simplify]: Simplify 0.5 into 0.5
10.719 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
10.719 * [taylor]: Taking taylor expansion of phi2 in phi1
10.719 * [backup-simplify]: Simplify phi2 into phi2
10.719 * [taylor]: Taking taylor expansion of phi1 in phi1
10.719 * [backup-simplify]: Simplify 0 into 0
10.719 * [backup-simplify]: Simplify 1 into 1
10.719 * [backup-simplify]: Simplify (+ phi2 0) into phi2
10.719 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.720 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.720 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.720 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.720 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.720 * [backup-simplify]: Simplify (- 0) into 0
10.720 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.720 * [taylor]: Taking taylor expansion of lambda1 in phi1
10.720 * [backup-simplify]: Simplify lambda1 into lambda1
10.720 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
10.721 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.721 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))
10.721 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
10.721 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
10.721 * [backup-simplify]: Simplify (* 1 1) into 1
10.721 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
10.722 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2)
10.722 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))
10.722 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))
10.723 * [backup-simplify]: Simplify (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))
10.723 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2)))
10.724 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.724 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.724 * [backup-simplify]: Simplify (- 0) into 0
10.724 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.724 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
10.724 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
10.724 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
10.725 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
10.725 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0
10.725 * [backup-simplify]: Simplify (* 1 0) into 0
10.725 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.725 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
10.726 * [backup-simplify]: Simplify (* 2 0) into 0
10.726 * [backup-simplify]: Simplify (* phi2 0) into 0
10.726 * [backup-simplify]: Simplify (* 2 0) into 0
10.726 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
10.726 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1)
10.727 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))
10.727 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
10.727 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
10.728 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
10.728 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))
10.729 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))
10.731 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))
10.731 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.731 * [backup-simplify]: Simplify (+ 0) into 0
10.732 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
10.732 * [backup-simplify]: Simplify (+ 0 1) into 1
10.733 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
10.735 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.736 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
10.736 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
10.736 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
10.736 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
10.737 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))
10.737 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
10.737 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
10.738 * [backup-simplify]: Simplify (+ 0) into 0
10.738 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
10.739 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0
10.739 * [backup-simplify]: Simplify (+ 0) into 0
10.740 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
10.740 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
10.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.742 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
10.742 * [backup-simplify]: Simplify (- 0) into 0
10.742 * [backup-simplify]: Simplify (+ 0 0) into 0
10.742 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
10.743 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda2 2))) into 0
10.743 * [backup-simplify]: Simplify (+ 0 0) into 0
10.744 * [backup-simplify]: Simplify (+ 0 0) into 0
10.744 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))
10.744 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
10.747 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.747 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2))
10.748 * [backup-simplify]: Simplify (+ 0) into 0
10.748 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2))
10.749 * [backup-simplify]: Simplify (+ 0) into 0
10.749 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
10.750 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
10.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.751 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
10.751 * [backup-simplify]: Simplify (+ 0 0) into 0
10.752 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2)))
10.753 * [backup-simplify]: Simplify (+ 0) into 0
10.753 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
10.754 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
10.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.755 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
10.756 * [backup-simplify]: Simplify (- 0) into 0
10.756 * [backup-simplify]: Simplify (+ 0 0) into 0
10.757 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))
10.758 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))
10.758 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
10.759 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
10.759 * [backup-simplify]: Simplify (+ 0) into 0
10.760 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
10.761 * [backup-simplify]: Simplify (+ 0 1) into 1
10.761 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
10.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.764 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
10.764 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
10.764 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
10.765 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
10.766 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))
10.766 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
10.767 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
10.768 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
10.769 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (- (* 2 phi2) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
10.770 * [backup-simplify]: Simplify (- (- (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))
10.772 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 2 phi2))))
10.775 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 2 phi2)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))))
10.775 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2
10.775 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2
10.775 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in phi2
10.775 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
10.775 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
10.775 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
10.775 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
10.775 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.775 * [backup-simplify]: Simplify 0.5 into 0.5
10.775 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
10.775 * [taylor]: Taking taylor expansion of phi2 in phi2
10.775 * [backup-simplify]: Simplify 0 into 0
10.775 * [backup-simplify]: Simplify 1 into 1
10.775 * [taylor]: Taking taylor expansion of phi1 in phi2
10.776 * [backup-simplify]: Simplify phi1 into phi1
10.776 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
10.776 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.776 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.776 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.776 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.776 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.777 * [backup-simplify]: Simplify (- 0) into 0
10.777 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.777 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
10.777 * [taylor]: Taking taylor expansion of lambda1 in phi2
10.777 * [backup-simplify]: Simplify lambda1 into lambda1
10.777 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in phi2
10.777 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
10.777 * [taylor]: Taking taylor expansion of phi2 in phi2
10.777 * [backup-simplify]: Simplify 0 into 0
10.777 * [backup-simplify]: Simplify 1 into 1
10.777 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi2
10.777 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2
10.777 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
10.777 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
10.777 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
10.777 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.777 * [backup-simplify]: Simplify 0.5 into 0.5
10.777 * [taylor]: Taking taylor expansion of phi2 in phi2
10.777 * [backup-simplify]: Simplify 0 into 0
10.777 * [backup-simplify]: Simplify 1 into 1
10.784 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.786 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.786 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2
10.786 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
10.786 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
10.786 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
10.786 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.786 * [backup-simplify]: Simplify 0.5 into 0.5
10.786 * [taylor]: Taking taylor expansion of phi1 in phi2
10.786 * [backup-simplify]: Simplify phi1 into phi1
10.786 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.787 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.787 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.787 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.787 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.787 * [backup-simplify]: Simplify (- 0) into 0
10.787 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.787 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
10.787 * [taylor]: Taking taylor expansion of lambda2 in phi2
10.787 * [backup-simplify]: Simplify lambda2 into lambda2
10.788 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi2
10.788 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
10.788 * [taylor]: Taking taylor expansion of phi1 in phi2
10.788 * [backup-simplify]: Simplify phi1 into phi1
10.788 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2
10.788 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
10.788 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
10.788 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
10.788 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.788 * [backup-simplify]: Simplify 0.5 into 0.5
10.788 * [taylor]: Taking taylor expansion of phi2 in phi2
10.788 * [backup-simplify]: Simplify 0 into 0
10.788 * [backup-simplify]: Simplify 1 into 1
10.788 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.790 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.792 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.793 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2
10.793 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
10.793 * [taylor]: Taking taylor expansion of lambda2 in phi2
10.793 * [backup-simplify]: Simplify lambda2 into lambda2
10.793 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
10.793 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
10.793 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
10.793 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.793 * [backup-simplify]: Simplify 0.5 into 0.5
10.793 * [taylor]: Taking taylor expansion of phi1 in phi2
10.793 * [backup-simplify]: Simplify phi1 into phi1
10.793 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.793 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.793 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.793 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
10.793 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
10.793 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
10.794 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2
10.794 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi2
10.794 * [taylor]: Taking taylor expansion of 2 in phi2
10.794 * [backup-simplify]: Simplify 2 into 2
10.794 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2
10.794 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
10.794 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
10.794 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.794 * [backup-simplify]: Simplify 0.5 into 0.5
10.794 * [taylor]: Taking taylor expansion of phi2 in phi2
10.794 * [backup-simplify]: Simplify 0 into 0
10.794 * [backup-simplify]: Simplify 1 into 1
10.794 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.796 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.796 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2
10.796 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
10.796 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
10.796 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.796 * [backup-simplify]: Simplify 0.5 into 0.5
10.796 * [taylor]: Taking taylor expansion of phi2 in phi2
10.796 * [backup-simplify]: Simplify 0 into 0
10.796 * [backup-simplify]: Simplify 1 into 1
10.797 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.799 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.799 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2
10.799 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
10.799 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
10.799 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.799 * [backup-simplify]: Simplify 0.5 into 0.5
10.799 * [taylor]: Taking taylor expansion of phi1 in phi2
10.799 * [backup-simplify]: Simplify phi1 into phi1
10.799 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.799 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.799 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.799 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2
10.799 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
10.799 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
10.799 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.799 * [backup-simplify]: Simplify 0.5 into 0.5
10.800 * [taylor]: Taking taylor expansion of phi1 in phi2
10.800 * [backup-simplify]: Simplify phi1 into phi1
10.800 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.800 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.800 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.800 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
10.800 * [taylor]: Taking taylor expansion of lambda2 in phi2
10.800 * [backup-simplify]: Simplify lambda2 into lambda2
10.800 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2
10.800 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
10.800 * [taylor]: Taking taylor expansion of 2 in phi2
10.800 * [backup-simplify]: Simplify 2 into 2
10.800 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
10.800 * [taylor]: Taking taylor expansion of phi2 in phi2
10.800 * [backup-simplify]: Simplify 0 into 0
10.800 * [backup-simplify]: Simplify 1 into 1
10.800 * [taylor]: Taking taylor expansion of phi1 in phi2
10.800 * [backup-simplify]: Simplify phi1 into phi1
10.800 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
10.800 * [taylor]: Taking taylor expansion of 2 in phi2
10.800 * [backup-simplify]: Simplify 2 into 2
10.800 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
10.800 * [taylor]: Taking taylor expansion of lambda2 in phi2
10.800 * [backup-simplify]: Simplify lambda2 into lambda2
10.800 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
10.800 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
10.800 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
10.800 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
10.801 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.801 * [backup-simplify]: Simplify 0.5 into 0.5
10.801 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
10.801 * [taylor]: Taking taylor expansion of phi2 in phi2
10.801 * [backup-simplify]: Simplify 0 into 0
10.801 * [backup-simplify]: Simplify 1 into 1
10.801 * [taylor]: Taking taylor expansion of phi1 in phi2
10.801 * [backup-simplify]: Simplify phi1 into phi1
10.801 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
10.801 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.801 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.801 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.801 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.801 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.802 * [backup-simplify]: Simplify (- 0) into 0
10.802 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.802 * [taylor]: Taking taylor expansion of lambda1 in phi2
10.802 * [backup-simplify]: Simplify lambda1 into lambda1
10.802 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
10.802 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.803 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
10.803 * [backup-simplify]: Simplify (* 1 1) into 1
10.803 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
10.803 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
10.804 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))
10.804 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))
10.804 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
10.804 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
10.805 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2))
10.806 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2))
10.807 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
10.807 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.807 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.807 * [backup-simplify]: Simplify (- 0) into 0
10.808 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.808 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
10.808 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
10.808 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
10.808 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
10.808 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2))
10.809 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))
10.809 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0
10.809 * [backup-simplify]: Simplify (* 1 0) into 0
10.810 * [backup-simplify]: Simplify (* 2 0) into 0
10.810 * [backup-simplify]: Simplify (* 0 phi1) into 0
10.810 * [backup-simplify]: Simplify (* 2 0) into 0
10.811 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
10.811 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
10.811 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))
10.811 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
10.812 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
10.812 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
10.812 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))
10.814 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))
10.815 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))
10.816 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.816 * [backup-simplify]: Simplify (+ 0) into 0
10.817 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
10.817 * [backup-simplify]: Simplify (+ 1 0) into 1
10.818 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
10.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.821 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
10.821 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
10.821 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
10.822 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
10.823 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
10.823 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
10.823 * [backup-simplify]: Simplify (+ 0) into 0
10.824 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
10.824 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
10.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.826 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
10.826 * [backup-simplify]: Simplify (- 0) into 0
10.826 * [backup-simplify]: Simplify (+ 0 0) into 0
10.827 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
10.827 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0
10.827 * [backup-simplify]: Simplify (+ 0) into 0
10.828 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
10.829 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0
10.829 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
10.829 * [backup-simplify]: Simplify (+ 0 0) into 0
10.830 * [backup-simplify]: Simplify (+ 0 0) into 0
10.830 * [backup-simplify]: Simplify (+ 0 0) into 0
10.831 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
10.831 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
10.831 * [backup-simplify]: Simplify (+ 0) into 0
10.832 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
10.832 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
10.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.833 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
10.834 * [backup-simplify]: Simplify (+ 0 0) into 0
10.834 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0
10.834 * [backup-simplify]: Simplify (+ 0) into 0
10.835 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
10.835 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
10.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.837 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
10.837 * [backup-simplify]: Simplify (- 0) into 0
10.837 * [backup-simplify]: Simplify (+ 0 0) into 0
10.838 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0
10.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.841 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))
10.842 * [backup-simplify]: Simplify (+ 0) into 0
10.843 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))
10.843 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))
10.844 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
10.844 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
10.845 * [backup-simplify]: Simplify (+ 0) into 0
10.845 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
10.846 * [backup-simplify]: Simplify (+ 1 0) into 1
10.847 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
10.849 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.850 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
10.850 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
10.850 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
10.850 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
10.851 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
10.852 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
10.852 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
10.853 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
10.854 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (- (* 2 phi1) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
10.855 * [backup-simplify]: Simplify (- (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))
10.857 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))))
10.860 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))))
10.860 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2
10.860 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
10.860 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in lambda2
10.860 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2
10.860 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
10.861 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
10.861 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
10.861 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.861 * [backup-simplify]: Simplify 0.5 into 0.5
10.861 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
10.861 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.861 * [backup-simplify]: Simplify phi2 into phi2
10.861 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.861 * [backup-simplify]: Simplify phi1 into phi1
10.861 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
10.861 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
10.861 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
10.861 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
10.861 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
10.861 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
10.862 * [backup-simplify]: Simplify (- 0) into 0
10.862 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
10.862 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
10.862 * [taylor]: Taking taylor expansion of lambda1 in lambda2
10.862 * [backup-simplify]: Simplify lambda1 into lambda1
10.862 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda2
10.862 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
10.862 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.862 * [backup-simplify]: Simplify phi2 into phi2
10.863 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2
10.863 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2
10.863 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
10.863 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
10.863 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
10.863 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.863 * [backup-simplify]: Simplify 0.5 into 0.5
10.863 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.863 * [backup-simplify]: Simplify phi2 into phi2
10.863 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.863 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.863 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.863 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.863 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.864 * [backup-simplify]: Simplify (- 0) into 0
10.864 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.864 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2
10.864 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
10.864 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
10.864 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
10.864 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.864 * [backup-simplify]: Simplify 0.5 into 0.5
10.864 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.864 * [backup-simplify]: Simplify phi1 into phi1
10.864 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.864 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.864 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.865 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.865 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.865 * [backup-simplify]: Simplify (- 0) into 0
10.865 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.865 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
10.865 * [taylor]: Taking taylor expansion of lambda2 in lambda2
10.865 * [backup-simplify]: Simplify 0 into 0
10.865 * [backup-simplify]: Simplify 1 into 1
10.865 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2
10.866 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
10.866 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.866 * [backup-simplify]: Simplify phi1 into phi1
10.866 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
10.866 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
10.866 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
10.866 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
10.866 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.866 * [backup-simplify]: Simplify 0.5 into 0.5
10.866 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.866 * [backup-simplify]: Simplify phi2 into phi2
10.866 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.866 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.866 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.866 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
10.866 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
10.866 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
10.866 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
10.867 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
10.867 * [taylor]: Taking taylor expansion of lambda2 in lambda2
10.867 * [backup-simplify]: Simplify 0 into 0
10.867 * [backup-simplify]: Simplify 1 into 1
10.867 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
10.867 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
10.867 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
10.867 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.867 * [backup-simplify]: Simplify 0.5 into 0.5
10.867 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.867 * [backup-simplify]: Simplify phi1 into phi1
10.867 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.867 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.867 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.867 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
10.867 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
10.867 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
10.867 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
10.867 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2
10.868 * [taylor]: Taking taylor expansion of 2 in lambda2
10.868 * [backup-simplify]: Simplify 2 into 2
10.868 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2
10.868 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
10.868 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
10.868 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.868 * [backup-simplify]: Simplify 0.5 into 0.5
10.868 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.868 * [backup-simplify]: Simplify phi2 into phi2
10.868 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.868 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.868 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.868 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2
10.868 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
10.868 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
10.868 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.868 * [backup-simplify]: Simplify 0.5 into 0.5
10.868 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.868 * [backup-simplify]: Simplify phi2 into phi2
10.868 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.868 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.868 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.869 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2
10.869 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
10.869 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
10.869 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.869 * [backup-simplify]: Simplify 0.5 into 0.5
10.869 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.869 * [backup-simplify]: Simplify phi1 into phi1
10.869 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.869 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.869 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.869 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2
10.869 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
10.869 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
10.869 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.869 * [backup-simplify]: Simplify 0.5 into 0.5
10.869 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.869 * [backup-simplify]: Simplify phi1 into phi1
10.869 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.869 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.869 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.869 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
10.869 * [taylor]: Taking taylor expansion of lambda2 in lambda2
10.869 * [backup-simplify]: Simplify 0 into 0
10.870 * [backup-simplify]: Simplify 1 into 1
10.870 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
10.870 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
10.870 * [taylor]: Taking taylor expansion of 2 in lambda2
10.870 * [backup-simplify]: Simplify 2 into 2
10.870 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
10.870 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.870 * [backup-simplify]: Simplify phi2 into phi2
10.870 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.870 * [backup-simplify]: Simplify phi1 into phi1
10.870 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
10.870 * [taylor]: Taking taylor expansion of 2 in lambda2
10.870 * [backup-simplify]: Simplify 2 into 2
10.870 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
10.870 * [taylor]: Taking taylor expansion of lambda2 in lambda2
10.870 * [backup-simplify]: Simplify 0 into 0
10.870 * [backup-simplify]: Simplify 1 into 1
10.870 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
10.870 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
10.870 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
10.870 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
10.870 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.870 * [backup-simplify]: Simplify 0.5 into 0.5
10.870 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
10.870 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.870 * [backup-simplify]: Simplify phi2 into phi2
10.870 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.870 * [backup-simplify]: Simplify phi1 into phi1
10.870 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
10.870 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
10.871 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
10.871 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
10.871 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
10.871 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
10.872 * [backup-simplify]: Simplify (- 0) into 0
10.872 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
10.872 * [taylor]: Taking taylor expansion of lambda1 in lambda2
10.872 * [backup-simplify]: Simplify lambda1 into lambda1
10.872 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
10.872 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.873 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
10.873 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
10.873 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
10.873 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
10.873 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
10.873 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2))
10.874 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)))
10.874 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
10.874 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
10.874 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
10.875 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
10.875 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
10.876 * [backup-simplify]: Simplify (* 2 0) into 0
10.876 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
10.876 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1))
10.876 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
10.877 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))
10.878 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))
10.878 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.879 * [backup-simplify]: Simplify (+ 0) into 0
10.879 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
10.880 * [backup-simplify]: Simplify (+ 0 0) into 0
10.881 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
10.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.882 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
10.882 * [backup-simplify]: Simplify (- 0) into 0
10.883 * [backup-simplify]: Simplify (+ 0 0) into 0
10.883 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
10.884 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0
10.884 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
10.884 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
10.884 * [backup-simplify]: Simplify (+ 0 0) into 0
10.885 * [backup-simplify]: Simplify (+ 0 0) into 0
10.885 * [backup-simplify]: Simplify (+ 0 0) into 0
10.885 * [backup-simplify]: Simplify (+ 0 0) into 0
10.886 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
10.886 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
10.887 * [backup-simplify]: Simplify (+ 0) into 0
10.887 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
10.888 * [backup-simplify]: Simplify (+ 0 0) into 0
10.888 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
10.889 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.889 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
10.890 * [backup-simplify]: Simplify (- 0) into 0
10.890 * [backup-simplify]: Simplify (+ 0 0) into 0
10.891 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
10.891 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
10.892 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
10.893 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
10.893 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
10.894 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
10.894 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
10.895 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
10.896 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
10.896 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2
10.896 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
10.896 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))))) in lambda2
10.896 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2
10.896 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
10.896 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
10.896 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
10.896 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.897 * [backup-simplify]: Simplify 0.5 into 0.5
10.897 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
10.897 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.897 * [backup-simplify]: Simplify phi2 into phi2
10.897 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.897 * [backup-simplify]: Simplify phi1 into phi1
10.897 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
10.897 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
10.897 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
10.897 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
10.897 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
10.897 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
10.898 * [backup-simplify]: Simplify (- 0) into 0
10.898 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
10.898 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
10.898 * [taylor]: Taking taylor expansion of lambda1 in lambda2
10.898 * [backup-simplify]: Simplify lambda1 into lambda1
10.898 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))))) in lambda2
10.898 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
10.898 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.898 * [backup-simplify]: Simplify phi2 into phi2
10.898 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2
10.898 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2
10.898 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
10.898 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
10.899 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
10.899 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.899 * [backup-simplify]: Simplify 0.5 into 0.5
10.899 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.899 * [backup-simplify]: Simplify phi2 into phi2
10.899 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.899 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.899 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.899 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.899 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.900 * [backup-simplify]: Simplify (- 0) into 0
10.900 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.900 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2
10.900 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
10.900 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
10.900 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
10.900 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.900 * [backup-simplify]: Simplify 0.5 into 0.5
10.900 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.900 * [backup-simplify]: Simplify phi1 into phi1
10.900 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.900 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.900 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.900 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.901 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.901 * [backup-simplify]: Simplify (- 0) into 0
10.901 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.901 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
10.901 * [taylor]: Taking taylor expansion of lambda2 in lambda2
10.901 * [backup-simplify]: Simplify 0 into 0
10.901 * [backup-simplify]: Simplify 1 into 1
10.901 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2
10.901 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
10.901 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.901 * [backup-simplify]: Simplify phi1 into phi1
10.902 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
10.902 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
10.902 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
10.902 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
10.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.902 * [backup-simplify]: Simplify 0.5 into 0.5
10.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.902 * [backup-simplify]: Simplify phi2 into phi2
10.902 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.902 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.902 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.902 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
10.902 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
10.902 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
10.902 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
10.902 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
10.902 * [taylor]: Taking taylor expansion of lambda2 in lambda2
10.902 * [backup-simplify]: Simplify 0 into 0
10.903 * [backup-simplify]: Simplify 1 into 1
10.903 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
10.903 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
10.903 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
10.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.903 * [backup-simplify]: Simplify 0.5 into 0.5
10.903 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.903 * [backup-simplify]: Simplify phi1 into phi1
10.903 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.903 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.903 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.903 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
10.903 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
10.903 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
10.903 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
10.903 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2
10.903 * [taylor]: Taking taylor expansion of 2 in lambda2
10.903 * [backup-simplify]: Simplify 2 into 2
10.903 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2
10.903 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
10.903 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
10.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.904 * [backup-simplify]: Simplify 0.5 into 0.5
10.904 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.904 * [backup-simplify]: Simplify phi2 into phi2
10.904 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.904 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.904 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.904 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2
10.904 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
10.904 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
10.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.904 * [backup-simplify]: Simplify 0.5 into 0.5
10.904 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.904 * [backup-simplify]: Simplify phi2 into phi2
10.904 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
10.904 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
10.904 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
10.904 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2
10.904 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
10.904 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
10.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.904 * [backup-simplify]: Simplify 0.5 into 0.5
10.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.904 * [backup-simplify]: Simplify phi1 into phi1
10.904 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.904 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.905 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.905 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2
10.905 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
10.905 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
10.905 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.905 * [backup-simplify]: Simplify 0.5 into 0.5
10.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.905 * [backup-simplify]: Simplify phi1 into phi1
10.905 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.905 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.905 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.905 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
10.905 * [taylor]: Taking taylor expansion of lambda2 in lambda2
10.905 * [backup-simplify]: Simplify 0 into 0
10.905 * [backup-simplify]: Simplify 1 into 1
10.905 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
10.905 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
10.905 * [taylor]: Taking taylor expansion of 2 in lambda2
10.905 * [backup-simplify]: Simplify 2 into 2
10.905 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
10.905 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.905 * [backup-simplify]: Simplify phi2 into phi2
10.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.905 * [backup-simplify]: Simplify phi1 into phi1
10.905 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
10.905 * [taylor]: Taking taylor expansion of 2 in lambda2
10.905 * [backup-simplify]: Simplify 2 into 2
10.905 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
10.905 * [taylor]: Taking taylor expansion of lambda2 in lambda2
10.905 * [backup-simplify]: Simplify 0 into 0
10.905 * [backup-simplify]: Simplify 1 into 1
10.905 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
10.905 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
10.905 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
10.905 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
10.905 * [taylor]: Taking taylor expansion of 0.5 in lambda2
10.905 * [backup-simplify]: Simplify 0.5 into 0.5
10.905 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
10.905 * [taylor]: Taking taylor expansion of phi2 in lambda2
10.905 * [backup-simplify]: Simplify phi2 into phi2
10.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
10.905 * [backup-simplify]: Simplify phi1 into phi1
10.905 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
10.905 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
10.905 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
10.906 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
10.906 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
10.906 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
10.906 * [backup-simplify]: Simplify (- 0) into 0
10.906 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
10.906 * [taylor]: Taking taylor expansion of lambda1 in lambda2
10.906 * [backup-simplify]: Simplify lambda1 into lambda1
10.906 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
10.906 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.907 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
10.907 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
10.907 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
10.907 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
10.907 * [backup-simplify]: Simplify (+ 0 (pow phi1 2)) into (pow phi1 2)
10.907 * [backup-simplify]: Simplify (+ (pow phi2 2) (pow phi1 2)) into (+ (pow phi1 2) (pow phi2 2))
10.907 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (+ (pow phi1 2) (pow phi2 2))) into (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)))
10.907 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
10.908 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
10.908 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
10.908 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
10.908 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
10.908 * [backup-simplify]: Simplify (* 2 0) into 0
10.908 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
10.908 * [backup-simplify]: Simplify (+ 0 (* 2 (* phi2 phi1))) into (* 2 (* phi2 phi1))
10.909 * [backup-simplify]: Simplify (- (* 2 (* phi2 phi1))) into (- (* 2 (* phi2 phi1)))
10.909 * [backup-simplify]: Simplify (+ (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (- (* 2 (* phi2 phi1)))) into (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))
10.910 * [backup-simplify]: Simplify (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) into (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))
10.910 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.910 * [backup-simplify]: Simplify (+ 0) into 0
10.911 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
10.911 * [backup-simplify]: Simplify (+ 0 0) into 0
10.911 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
10.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.912 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
10.912 * [backup-simplify]: Simplify (- 0) into 0
10.912 * [backup-simplify]: Simplify (+ 0 0) into 0
10.912 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
10.913 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0
10.913 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
10.913 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
10.913 * [backup-simplify]: Simplify (+ 0 0) into 0
10.913 * [backup-simplify]: Simplify (+ 0 0) into 0
10.914 * [backup-simplify]: Simplify (+ 0 0) into 0
10.914 * [backup-simplify]: Simplify (+ 0 0) into 0
10.914 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
10.914 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
10.914 * [backup-simplify]: Simplify (+ 0) into 0
10.915 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
10.915 * [backup-simplify]: Simplify (+ 0 0) into 0
10.915 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
10.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
10.916 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
10.916 * [backup-simplify]: Simplify (- 0) into 0
10.917 * [backup-simplify]: Simplify (+ 0 0) into 0
10.917 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
10.917 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
10.917 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
10.918 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
10.918 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
10.918 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
10.919 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
10.919 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
10.920 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
10.920 * [taylor]: Taking taylor expansion of (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2
10.920 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2
10.920 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2
10.920 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
10.920 * [taylor]: Taking taylor expansion of phi1 in phi2
10.920 * [backup-simplify]: Simplify phi1 into phi1
10.920 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2
10.920 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
10.920 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
10.920 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
10.920 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
10.920 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.920 * [backup-simplify]: Simplify 0.5 into 0.5
10.920 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
10.920 * [taylor]: Taking taylor expansion of phi2 in phi2
10.920 * [backup-simplify]: Simplify 0 into 0
10.920 * [backup-simplify]: Simplify 1 into 1
10.920 * [taylor]: Taking taylor expansion of phi1 in phi2
10.920 * [backup-simplify]: Simplify phi1 into phi1
10.920 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
10.920 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.920 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.920 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.920 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.920 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.921 * [backup-simplify]: Simplify (- 0) into 0
10.921 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.921 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
10.921 * [taylor]: Taking taylor expansion of lambda1 in phi2
10.921 * [backup-simplify]: Simplify lambda1 into lambda1
10.921 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
10.921 * [taylor]: Taking taylor expansion of phi2 in phi2
10.921 * [backup-simplify]: Simplify 0 into 0
10.921 * [backup-simplify]: Simplify 1 into 1
10.921 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
10.921 * [taylor]: Taking taylor expansion of 2 in phi2
10.921 * [backup-simplify]: Simplify 2 into 2
10.921 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
10.921 * [taylor]: Taking taylor expansion of phi2 in phi2
10.921 * [backup-simplify]: Simplify 0 into 0
10.921 * [backup-simplify]: Simplify 1 into 1
10.921 * [taylor]: Taking taylor expansion of phi1 in phi2
10.921 * [backup-simplify]: Simplify phi1 into phi1
10.921 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
10.921 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
10.921 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.921 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
10.922 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
10.922 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
10.922 * [backup-simplify]: Simplify (* 0 phi1) into 0
10.922 * [backup-simplify]: Simplify (* 2 0) into 0
10.922 * [backup-simplify]: Simplify (- 0) into 0
10.923 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
10.923 * [backup-simplify]: Simplify (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
10.923 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
10.923 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.923 * [backup-simplify]: Simplify (+ 0) into 0
10.924 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
10.924 * [backup-simplify]: Simplify (+ 1 0) into 1
10.924 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
10.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.926 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
10.926 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
10.926 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
10.926 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
10.927 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
10.927 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
10.928 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
10.928 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
10.928 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
10.928 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
10.929 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
10.929 * [backup-simplify]: Simplify (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))))
10.929 * [taylor]: Taking taylor expansion of (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
10.929 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
10.929 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
10.929 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
10.929 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
10.929 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.929 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.929 * [backup-simplify]: Simplify 0.5 into 0.5
10.929 * [taylor]: Taking taylor expansion of phi1 in phi1
10.929 * [backup-simplify]: Simplify 0 into 0
10.929 * [backup-simplify]: Simplify 1 into 1
10.930 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.931 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.931 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
10.931 * [taylor]: Taking taylor expansion of lambda1 in phi1
10.931 * [backup-simplify]: Simplify lambda1 into lambda1
10.931 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
10.931 * [taylor]: Taking taylor expansion of phi1 in phi1
10.931 * [backup-simplify]: Simplify 0 into 0
10.931 * [backup-simplify]: Simplify 1 into 1
10.931 * [backup-simplify]: Simplify (* 1 1) into 1
10.931 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.931 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
10.931 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
10.931 * [backup-simplify]: Simplify (sqrt (pow lambda1 2)) into lambda1
10.931 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.932 * [backup-simplify]: Simplify (+ 0) into 0
10.932 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
10.932 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
10.933 * [backup-simplify]: Simplify (+ 0 0) into 0
10.933 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (pow lambda1 2)))) into 0
10.933 * [taylor]: Taking taylor expansion of lambda1 in lambda1
10.933 * [backup-simplify]: Simplify 0 into 0
10.933 * [backup-simplify]: Simplify 1 into 1
10.933 * [backup-simplify]: Simplify 0 into 0
10.933 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
10.933 * [taylor]: Taking taylor expansion of -1 in phi2
10.933 * [backup-simplify]: Simplify -1 into -1
10.933 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
10.933 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2
10.933 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2
10.933 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2
10.933 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2
10.933 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
10.933 * [taylor]: Taking taylor expansion of phi1 in phi2
10.933 * [backup-simplify]: Simplify phi1 into phi1
10.933 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2
10.933 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
10.933 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
10.933 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
10.933 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
10.933 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.933 * [backup-simplify]: Simplify 0.5 into 0.5
10.933 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
10.933 * [taylor]: Taking taylor expansion of phi2 in phi2
10.933 * [backup-simplify]: Simplify 0 into 0
10.933 * [backup-simplify]: Simplify 1 into 1
10.933 * [taylor]: Taking taylor expansion of phi1 in phi2
10.933 * [backup-simplify]: Simplify phi1 into phi1
10.933 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
10.933 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.933 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.933 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.934 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.934 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.934 * [backup-simplify]: Simplify (- 0) into 0
10.934 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.934 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
10.934 * [taylor]: Taking taylor expansion of lambda1 in phi2
10.934 * [backup-simplify]: Simplify lambda1 into lambda1
10.934 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
10.934 * [taylor]: Taking taylor expansion of phi2 in phi2
10.934 * [backup-simplify]: Simplify 0 into 0
10.934 * [backup-simplify]: Simplify 1 into 1
10.934 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
10.934 * [taylor]: Taking taylor expansion of 2 in phi2
10.934 * [backup-simplify]: Simplify 2 into 2
10.934 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
10.934 * [taylor]: Taking taylor expansion of phi2 in phi2
10.934 * [backup-simplify]: Simplify 0 into 0
10.934 * [backup-simplify]: Simplify 1 into 1
10.934 * [taylor]: Taking taylor expansion of phi1 in phi2
10.934 * [backup-simplify]: Simplify phi1 into phi1
10.934 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
10.934 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
10.934 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.934 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
10.935 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
10.935 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
10.935 * [backup-simplify]: Simplify (* 0 phi1) into 0
10.935 * [backup-simplify]: Simplify (* 2 0) into 0
10.936 * [backup-simplify]: Simplify (- 0) into 0
10.936 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
10.936 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
10.937 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
10.937 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
10.937 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.937 * [backup-simplify]: Simplify (+ 0) into 0
10.938 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
10.938 * [backup-simplify]: Simplify (+ 1 0) into 1
10.939 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
10.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
10.942 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
10.942 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
10.942 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
10.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
10.944 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
10.944 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
10.945 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
10.945 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
10.951 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
10.951 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
10.952 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
10.954 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))))
10.956 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
10.956 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
10.956 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
10.956 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
10.956 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
10.956 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.956 * [backup-simplify]: Simplify 0.5 into 0.5
10.956 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
10.957 * [taylor]: Taking taylor expansion of phi2 in phi2
10.957 * [backup-simplify]: Simplify 0 into 0
10.957 * [backup-simplify]: Simplify 1 into 1
10.957 * [taylor]: Taking taylor expansion of phi1 in phi2
10.957 * [backup-simplify]: Simplify phi1 into phi1
10.957 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
10.957 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.957 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.957 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.957 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.957 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.958 * [backup-simplify]: Simplify (- 0) into 0
10.958 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.958 * [taylor]: Taking taylor expansion of lambda1 in phi2
10.958 * [backup-simplify]: Simplify lambda1 into lambda1
10.958 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
10.958 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
10.959 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
10.960 * [backup-simplify]: Simplify (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
10.960 * [taylor]: Taking taylor expansion of (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
10.960 * [taylor]: Taking taylor expansion of -1 in phi1
10.960 * [backup-simplify]: Simplify -1 into -1
10.960 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
10.960 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) lambda1) in phi1
10.960 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
10.960 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
10.960 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.960 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.960 * [backup-simplify]: Simplify 0.5 into 0.5
10.960 * [taylor]: Taking taylor expansion of phi1 in phi1
10.960 * [backup-simplify]: Simplify 0 into 0
10.960 * [backup-simplify]: Simplify 1 into 1
10.961 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.962 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.962 * [taylor]: Taking taylor expansion of lambda1 in phi1
10.962 * [backup-simplify]: Simplify lambda1 into lambda1
10.962 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
10.962 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
10.962 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
10.962 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
10.962 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
10.963 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
10.963 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.963 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.963 * [backup-simplify]: Simplify 0.5 into 0.5
10.963 * [taylor]: Taking taylor expansion of phi1 in phi1
10.963 * [backup-simplify]: Simplify 0 into 0
10.963 * [backup-simplify]: Simplify 1 into 1
10.963 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.964 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.965 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
10.965 * [taylor]: Taking taylor expansion of lambda1 in phi1
10.965 * [backup-simplify]: Simplify lambda1 into lambda1
10.965 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
10.965 * [taylor]: Taking taylor expansion of phi1 in phi1
10.965 * [backup-simplify]: Simplify 0 into 0
10.965 * [backup-simplify]: Simplify 1 into 1
10.965 * [backup-simplify]: Simplify (* 1 1) into 1
10.965 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.965 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
10.965 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
10.965 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
10.965 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
10.965 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.966 * [backup-simplify]: Simplify (+ 0) into 0
10.966 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
10.966 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
10.967 * [backup-simplify]: Simplify (+ 0 0) into 0
10.967 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
10.967 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
10.967 * [backup-simplify]: Simplify (* 1 1) into 1
10.967 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
10.967 * [backup-simplify]: Simplify (* lambda1 (/ 1 lambda1)) into 1
10.968 * [backup-simplify]: Simplify (* -1 1) into -1
10.968 * [taylor]: Taking taylor expansion of -1 in lambda1
10.968 * [backup-simplify]: Simplify -1 into -1
10.968 * [backup-simplify]: Simplify -1 into -1
10.968 * [taylor]: Taking taylor expansion of (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) in phi1
10.968 * [taylor]: Taking taylor expansion of -1/2 in phi1
10.968 * [backup-simplify]: Simplify -1/2 into -1/2
10.968 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) in phi1
10.968 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
10.968 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
10.968 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
10.968 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
10.968 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
10.968 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
10.968 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.968 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.968 * [backup-simplify]: Simplify 0.5 into 0.5
10.968 * [taylor]: Taking taylor expansion of phi1 in phi1
10.968 * [backup-simplify]: Simplify 0 into 0
10.968 * [backup-simplify]: Simplify 1 into 1
10.968 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.969 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.969 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
10.969 * [taylor]: Taking taylor expansion of lambda1 in phi1
10.969 * [backup-simplify]: Simplify lambda1 into lambda1
10.969 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
10.969 * [taylor]: Taking taylor expansion of phi1 in phi1
10.969 * [backup-simplify]: Simplify 0 into 0
10.969 * [backup-simplify]: Simplify 1 into 1
10.969 * [backup-simplify]: Simplify (* 1 1) into 1
10.970 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.970 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
10.970 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
10.970 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
10.970 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
10.970 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
10.970 * [backup-simplify]: Simplify (+ 0) into 0
10.971 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
10.971 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
10.971 * [backup-simplify]: Simplify (+ 0 0) into 0
10.971 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
10.972 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
10.972 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) in phi1
10.972 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1
10.972 * [taylor]: Taking taylor expansion of 1.0 in phi1
10.972 * [backup-simplify]: Simplify 1.0 into 1.0
10.972 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1
10.972 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
10.972 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.972 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.972 * [backup-simplify]: Simplify 0.5 into 0.5
10.972 * [taylor]: Taking taylor expansion of phi1 in phi1
10.972 * [backup-simplify]: Simplify 0 into 0
10.972 * [backup-simplify]: Simplify 1 into 1
10.972 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.973 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.973 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1
10.973 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
10.973 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
10.973 * [taylor]: Taking taylor expansion of 0.5 in phi1
10.973 * [backup-simplify]: Simplify 0.5 into 0.5
10.973 * [taylor]: Taking taylor expansion of phi1 in phi1
10.973 * [backup-simplify]: Simplify 0 into 0
10.973 * [backup-simplify]: Simplify 1 into 1
10.973 * [backup-simplify]: Simplify (* 0.5 0) into 0
10.974 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
10.974 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
10.974 * [taylor]: Taking taylor expansion of lambda1 in phi1
10.974 * [backup-simplify]: Simplify lambda1 into lambda1
10.974 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1
10.974 * [taylor]: Taking taylor expansion of 2 in phi1
10.974 * [backup-simplify]: Simplify 2 into 2
10.974 * [taylor]: Taking taylor expansion of phi1 in phi1
10.974 * [backup-simplify]: Simplify 0 into 0
10.974 * [backup-simplify]: Simplify 1 into 1
10.974 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
10.974 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0
10.975 * [backup-simplify]: Simplify (* 1 0) into 0
10.975 * [backup-simplify]: Simplify (* 1.0 0) into 0
10.975 * [backup-simplify]: Simplify (* 2 0) into 0
10.975 * [backup-simplify]: Simplify (+ 0 0) into 0
10.976 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0
10.976 * [backup-simplify]: Simplify (* -1/2 0) into 0
10.976 * [taylor]: Taking taylor expansion of 0 in lambda1
10.976 * [backup-simplify]: Simplify 0 into 0
10.976 * [backup-simplify]: Simplify 0 into 0
10.976 * [taylor]: Taking taylor expansion of 0 in lambda1
10.976 * [backup-simplify]: Simplify 0 into 0
10.976 * [backup-simplify]: Simplify 0 into 0
10.976 * [backup-simplify]: Simplify 1 into 1
10.976 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
10.977 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
10.977 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
10.977 * [backup-simplify]: Simplify (+ 0 0) into 0
10.978 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
10.978 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
10.979 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
10.979 * [backup-simplify]: Simplify (- 0) into 0
10.979 * [backup-simplify]: Simplify (+ 0 0) into 0
10.980 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
10.980 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
10.980 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
10.981 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
10.981 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
10.981 * [backup-simplify]: Simplify (* 1 1) into 1
10.981 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) 1) into (pow (cos (* 0.5 phi1)) 2)
10.981 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2))
10.982 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
10.982 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
10.982 * [backup-simplify]: Simplify (* 1 1) into 1
10.982 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
10.982 * [backup-simplify]: Simplify (* 1 (pow (sin (* 0.5 phi1)) 2)) into (pow (sin (* 0.5 phi1)) 2)
10.982 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))
10.983 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))
10.983 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
10.984 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
10.984 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
10.984 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
10.984 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
10.985 * [backup-simplify]: Simplify (- 0) into 0
10.985 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
10.985 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
10.985 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
10.985 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
10.985 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.985 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.985 * [backup-simplify]: Simplify (- 0) into 0
10.985 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.985 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
10.985 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
10.985 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
10.986 * [backup-simplify]: Simplify (* 1 1) into 1
10.986 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
10.986 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))
10.986 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))
10.986 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
10.986 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))
10.987 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0
10.987 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0
10.988 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
10.988 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
10.988 * [backup-simplify]: Simplify (+ 0 0) into 0
10.989 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
10.989 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
10.990 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
10.990 * [backup-simplify]: Simplify (- 0) into 0
10.990 * [backup-simplify]: Simplify (+ 0 0) into 0
10.991 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
10.991 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 lambda1))) into 0
10.992 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into 0
10.992 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0))) into 0
10.993 * [backup-simplify]: Simplify (+ 0 0) into 0
10.993 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))
10.993 * [backup-simplify]: Simplify (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) into (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))
10.994 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))
10.997 * [backup-simplify]: Simplify (/ (- (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (pow (* -1 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))))))
10.997 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))))) in phi2
10.997 * [taylor]: Taking taylor expansion of 1/2 in phi2
10.997 * [backup-simplify]: Simplify 1/2 into 1/2
10.997 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))))) in phi2
10.998 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2
10.998 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2
10.998 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2
10.998 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2
10.998 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
10.998 * [taylor]: Taking taylor expansion of phi1 in phi2
10.998 * [backup-simplify]: Simplify phi1 into phi1
10.998 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2
10.998 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
10.998 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
10.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
10.998 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
10.998 * [taylor]: Taking taylor expansion of 0.5 in phi2
10.998 * [backup-simplify]: Simplify 0.5 into 0.5
10.998 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
10.998 * [taylor]: Taking taylor expansion of phi2 in phi2
10.998 * [backup-simplify]: Simplify 0 into 0
10.998 * [backup-simplify]: Simplify 1 into 1
10.998 * [taylor]: Taking taylor expansion of phi1 in phi2
10.998 * [backup-simplify]: Simplify phi1 into phi1
10.998 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
10.998 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
10.998 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
10.998 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
10.998 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
10.999 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
10.999 * [backup-simplify]: Simplify (- 0) into 0
10.999 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
10.999 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
10.999 * [taylor]: Taking taylor expansion of lambda1 in phi2
10.999 * [backup-simplify]: Simplify lambda1 into lambda1
10.999 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
10.999 * [taylor]: Taking taylor expansion of phi2 in phi2
10.999 * [backup-simplify]: Simplify 0 into 0
10.999 * [backup-simplify]: Simplify 1 into 1
10.999 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
10.999 * [taylor]: Taking taylor expansion of 2 in phi2
10.999 * [backup-simplify]: Simplify 2 into 2
10.999 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
10.999 * [taylor]: Taking taylor expansion of phi2 in phi2
10.999 * [backup-simplify]: Simplify 0 into 0
11.000 * [backup-simplify]: Simplify 1 into 1
11.000 * [taylor]: Taking taylor expansion of phi1 in phi2
11.000 * [backup-simplify]: Simplify phi1 into phi1
11.000 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
11.000 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
11.000 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.000 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
11.001 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
11.001 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
11.001 * [backup-simplify]: Simplify (* 0 phi1) into 0
11.002 * [backup-simplify]: Simplify (* 2 0) into 0
11.002 * [backup-simplify]: Simplify (- 0) into 0
11.003 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
11.004 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
11.004 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
11.004 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
11.004 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.005 * [backup-simplify]: Simplify (+ 0) into 0
11.005 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
11.006 * [backup-simplify]: Simplify (+ 1 0) into 1
11.006 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
11.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
11.009 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
11.009 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
11.009 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
11.010 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
11.010 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
11.011 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) 0) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
11.011 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
11.012 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
11.012 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
11.012 * [backup-simplify]: Simplify (- (* 2 phi1)) into (- (* 2 phi1))
11.013 * [backup-simplify]: Simplify (+ (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (- (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
11.015 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))))
11.018 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
11.018 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))))) in phi2
11.018 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) in phi2
11.018 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi2
11.018 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
11.018 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
11.018 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
11.018 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.018 * [backup-simplify]: Simplify 0.5 into 0.5
11.018 * [taylor]: Taking taylor expansion of phi2 in phi2
11.018 * [backup-simplify]: Simplify 0 into 0
11.018 * [backup-simplify]: Simplify 1 into 1
11.019 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.021 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.021 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
11.021 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
11.021 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
11.021 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.021 * [backup-simplify]: Simplify 0.5 into 0.5
11.021 * [taylor]: Taking taylor expansion of phi1 in phi2
11.021 * [backup-simplify]: Simplify phi1 into phi1
11.021 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
11.021 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
11.021 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
11.021 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
11.021 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
11.022 * [backup-simplify]: Simplify (- 0) into 0
11.022 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
11.022 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi2
11.022 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
11.022 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
11.022 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
11.022 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.022 * [backup-simplify]: Simplify 0.5 into 0.5
11.022 * [taylor]: Taking taylor expansion of phi2 in phi2
11.022 * [backup-simplify]: Simplify 0 into 0
11.022 * [backup-simplify]: Simplify 1 into 1
11.023 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.024 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
11.027 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
11.027 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
11.027 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
11.027 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.027 * [backup-simplify]: Simplify 0.5 into 0.5
11.027 * [taylor]: Taking taylor expansion of phi1 in phi2
11.027 * [backup-simplify]: Simplify phi1 into phi1
11.027 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
11.028 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
11.028 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
11.028 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
11.028 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
11.028 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
11.028 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))))) in phi2
11.028 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) in phi2
11.028 * [taylor]: Taking taylor expansion of 2 in phi2
11.028 * [backup-simplify]: Simplify 2 into 2
11.028 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) in phi2
11.028 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
11.028 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
11.028 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.029 * [backup-simplify]: Simplify 0.5 into 0.5
11.029 * [taylor]: Taking taylor expansion of phi2 in phi2
11.029 * [backup-simplify]: Simplify 0 into 0
11.029 * [backup-simplify]: Simplify 1 into 1
11.029 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.031 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.031 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) in phi2
11.031 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
11.031 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
11.031 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.031 * [backup-simplify]: Simplify 0.5 into 0.5
11.031 * [taylor]: Taking taylor expansion of phi2 in phi2
11.031 * [backup-simplify]: Simplify 0 into 0
11.031 * [backup-simplify]: Simplify 1 into 1
11.031 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.033 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.033 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) in phi2
11.033 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
11.033 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
11.033 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.033 * [backup-simplify]: Simplify 0.5 into 0.5
11.033 * [taylor]: Taking taylor expansion of phi1 in phi2
11.033 * [backup-simplify]: Simplify phi1 into phi1
11.033 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
11.033 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
11.034 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
11.034 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
11.034 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
11.034 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.034 * [backup-simplify]: Simplify 0.5 into 0.5
11.034 * [taylor]: Taking taylor expansion of phi1 in phi2
11.034 * [backup-simplify]: Simplify phi1 into phi1
11.034 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
11.034 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
11.034 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
11.034 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1)))) in phi2
11.034 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) in phi2
11.034 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in phi2
11.034 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
11.034 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
11.034 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.034 * [backup-simplify]: Simplify 0.5 into 0.5
11.034 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
11.034 * [taylor]: Taking taylor expansion of phi2 in phi2
11.034 * [backup-simplify]: Simplify 0 into 0
11.034 * [backup-simplify]: Simplify 1 into 1
11.034 * [taylor]: Taking taylor expansion of phi1 in phi2
11.034 * [backup-simplify]: Simplify phi1 into phi1
11.035 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
11.035 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
11.035 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
11.035 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
11.035 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
11.035 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
11.035 * [backup-simplify]: Simplify (- 0) into 0
11.036 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
11.036 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
11.036 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.036 * [backup-simplify]: Simplify lambda1 into lambda1
11.036 * [taylor]: Taking taylor expansion of (- (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) (* 2 (* phi2 phi1))) in phi2
11.036 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2))) in phi2
11.036 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
11.036 * [taylor]: Taking taylor expansion of phi1 in phi2
11.036 * [backup-simplify]: Simplify phi1 into phi1
11.036 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (pow phi2 2)) in phi2
11.036 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
11.036 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
11.036 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
11.036 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
11.036 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.036 * [backup-simplify]: Simplify 0.5 into 0.5
11.036 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
11.036 * [taylor]: Taking taylor expansion of phi2 in phi2
11.036 * [backup-simplify]: Simplify 0 into 0
11.036 * [backup-simplify]: Simplify 1 into 1
11.036 * [taylor]: Taking taylor expansion of phi1 in phi2
11.036 * [backup-simplify]: Simplify phi1 into phi1
11.036 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
11.036 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
11.037 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
11.037 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
11.037 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
11.037 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
11.037 * [backup-simplify]: Simplify (- 0) into 0
11.037 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
11.038 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
11.038 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.038 * [backup-simplify]: Simplify lambda1 into lambda1
11.038 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
11.038 * [taylor]: Taking taylor expansion of phi2 in phi2
11.038 * [backup-simplify]: Simplify 0 into 0
11.038 * [backup-simplify]: Simplify 1 into 1
11.038 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
11.038 * [taylor]: Taking taylor expansion of 2 in phi2
11.038 * [backup-simplify]: Simplify 2 into 2
11.038 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
11.038 * [taylor]: Taking taylor expansion of phi2 in phi2
11.038 * [backup-simplify]: Simplify 0 into 0
11.038 * [backup-simplify]: Simplify 1 into 1
11.038 * [taylor]: Taking taylor expansion of phi1 in phi2
11.038 * [backup-simplify]: Simplify phi1 into phi1
11.038 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
11.039 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 4)
11.039 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.039 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2))
11.039 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
11.039 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
11.040 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.040 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
11.040 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
11.041 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
11.041 * [backup-simplify]: Simplify (* 0 phi1) into 0
11.042 * [backup-simplify]: Simplify (* 2 0) into 0
11.042 * [backup-simplify]: Simplify (- 0) into 0
11.043 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
11.044 * [backup-simplify]: Simplify (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
11.044 * [backup-simplify]: Simplify (* 1 1) into 1
11.045 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
11.045 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 2)
11.045 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2)
11.045 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
11.045 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
11.046 * [backup-simplify]: Simplify (- 0) into 0
11.046 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
11.046 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
11.046 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
11.046 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
11.046 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))
11.047 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into 0
11.047 * [backup-simplify]: Simplify (* 1 0) into 0
11.048 * [backup-simplify]: Simplify (* 2 0) into 0
11.049 * [backup-simplify]: Simplify (+ 0 (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
11.050 * [backup-simplify]: Simplify (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
11.051 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
11.053 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
11.055 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
11.055 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
11.055 * [taylor]: Taking taylor expansion of 1/2 in phi1
11.055 * [backup-simplify]: Simplify 1/2 into 1/2
11.055 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
11.055 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
11.055 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
11.055 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.055 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.055 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.055 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.056 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.056 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.056 * [backup-simplify]: Simplify 0.5 into 0.5
11.056 * [taylor]: Taking taylor expansion of phi1 in phi1
11.056 * [backup-simplify]: Simplify 0 into 0
11.056 * [backup-simplify]: Simplify 1 into 1
11.056 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.058 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.058 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.058 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.058 * [backup-simplify]: Simplify lambda1 into lambda1
11.058 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.058 * [taylor]: Taking taylor expansion of phi1 in phi1
11.058 * [backup-simplify]: Simplify 0 into 0
11.058 * [backup-simplify]: Simplify 1 into 1
11.059 * [backup-simplify]: Simplify (* 1 1) into 1
11.059 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.059 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.059 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.059 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
11.060 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
11.060 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.060 * [backup-simplify]: Simplify (+ 0) into 0
11.061 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.061 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
11.062 * [backup-simplify]: Simplify (+ 0 0) into 0
11.062 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
11.062 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
11.062 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
11.063 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.063 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.063 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.063 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.063 * [backup-simplify]: Simplify 0.5 into 0.5
11.063 * [taylor]: Taking taylor expansion of phi1 in phi1
11.063 * [backup-simplify]: Simplify 0 into 0
11.063 * [backup-simplify]: Simplify 1 into 1
11.063 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.065 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.065 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
11.065 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) in phi1
11.065 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 4) in phi1
11.065 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.065 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.065 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.065 * [backup-simplify]: Simplify 0.5 into 0.5
11.065 * [taylor]: Taking taylor expansion of phi1 in phi1
11.065 * [backup-simplify]: Simplify 0 into 0
11.065 * [backup-simplify]: Simplify 1 into 1
11.066 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.067 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.067 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.067 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.067 * [backup-simplify]: Simplify lambda1 into lambda1
11.067 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.067 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.067 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.067 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.067 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.067 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.067 * [backup-simplify]: Simplify 0.5 into 0.5
11.067 * [taylor]: Taking taylor expansion of phi1 in phi1
11.068 * [backup-simplify]: Simplify 0 into 0
11.068 * [backup-simplify]: Simplify 1 into 1
11.068 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.070 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.070 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.070 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.070 * [backup-simplify]: Simplify lambda1 into lambda1
11.070 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.070 * [taylor]: Taking taylor expansion of phi1 in phi1
11.070 * [backup-simplify]: Simplify 0 into 0
11.070 * [backup-simplify]: Simplify 1 into 1
11.071 * [backup-simplify]: Simplify (* 1 1) into 1
11.071 * [backup-simplify]: Simplify (* 1 1) into 1
11.071 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.071 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.072 * [backup-simplify]: Simplify (* 1 1) into 1
11.072 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.072 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.072 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.072 * [backup-simplify]: Simplify (/ (pow lambda1 2) (pow lambda1 2)) into 1
11.073 * [backup-simplify]: Simplify (* 1 1) into 1
11.074 * [backup-simplify]: Simplify (- 1) into -1
11.074 * [backup-simplify]: Simplify (+ 1 -1) into 0
11.074 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0
11.075 * [backup-simplify]: Simplify (* 1/2 0) into 0
11.075 * [taylor]: Taking taylor expansion of 0 in lambda1
11.075 * [backup-simplify]: Simplify 0 into 0
11.075 * [backup-simplify]: Simplify 0 into 0
11.076 * [backup-simplify]: Simplify (+ 0) into 0
11.077 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
11.077 * [backup-simplify]: Simplify (+ 1 0) into 1
11.078 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
11.080 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
11.081 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
11.081 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
11.081 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
11.082 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
11.082 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
11.087 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))
11.093 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (* 0 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) into (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))))
11.093 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))))) in phi1
11.093 * [taylor]: Taking taylor expansion of (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
11.093 * [taylor]: Taking taylor expansion of 1.0 in phi1
11.093 * [backup-simplify]: Simplify 1.0 into 1.0
11.093 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
11.093 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) in phi1
11.093 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.093 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.093 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.093 * [backup-simplify]: Simplify 0.5 into 0.5
11.093 * [taylor]: Taking taylor expansion of phi1 in phi1
11.093 * [backup-simplify]: Simplify 0 into 0
11.093 * [backup-simplify]: Simplify 1 into 1
11.094 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.096 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.096 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda1) in phi1
11.096 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
11.096 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.096 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.096 * [backup-simplify]: Simplify 0.5 into 0.5
11.096 * [taylor]: Taking taylor expansion of phi1 in phi1
11.096 * [backup-simplify]: Simplify 0 into 0
11.096 * [backup-simplify]: Simplify 1 into 1
11.096 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.098 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.098 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.098 * [backup-simplify]: Simplify lambda1 into lambda1
11.098 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
11.098 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
11.098 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.098 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.098 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.098 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.098 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.098 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.098 * [backup-simplify]: Simplify 0.5 into 0.5
11.098 * [taylor]: Taking taylor expansion of phi1 in phi1
11.098 * [backup-simplify]: Simplify 0 into 0
11.098 * [backup-simplify]: Simplify 1 into 1
11.099 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.100 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.100 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.101 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.101 * [backup-simplify]: Simplify lambda1 into lambda1
11.101 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.101 * [taylor]: Taking taylor expansion of phi1 in phi1
11.101 * [backup-simplify]: Simplify 0 into 0
11.101 * [backup-simplify]: Simplify 1 into 1
11.101 * [backup-simplify]: Simplify (* 1 1) into 1
11.101 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.101 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.102 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.102 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
11.102 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
11.102 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.103 * [backup-simplify]: Simplify (+ 0) into 0
11.103 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.104 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
11.104 * [backup-simplify]: Simplify (+ 0 0) into 0
11.105 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
11.105 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
11.105 * [taylor]: Taking taylor expansion of (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) in phi1
11.105 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1
11.105 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) in phi1
11.105 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.105 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.105 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.105 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.105 * [backup-simplify]: Simplify 0.5 into 0.5
11.105 * [taylor]: Taking taylor expansion of phi1 in phi1
11.105 * [backup-simplify]: Simplify 0 into 0
11.105 * [backup-simplify]: Simplify 1 into 1
11.106 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.107 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.107 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1
11.107 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.107 * [backup-simplify]: Simplify lambda1 into lambda1
11.107 * [taylor]: Taking taylor expansion of phi1 in phi1
11.108 * [backup-simplify]: Simplify 0 into 0
11.108 * [backup-simplify]: Simplify 1 into 1
11.108 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1
11.108 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1
11.108 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1
11.108 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.108 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.108 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.108 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.108 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.108 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.108 * [backup-simplify]: Simplify 0.5 into 0.5
11.108 * [taylor]: Taking taylor expansion of phi1 in phi1
11.108 * [backup-simplify]: Simplify 0 into 0
11.108 * [backup-simplify]: Simplify 1 into 1
11.108 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.113 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.114 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.114 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.114 * [backup-simplify]: Simplify lambda1 into lambda1
11.114 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.114 * [taylor]: Taking taylor expansion of phi1 in phi1
11.114 * [backup-simplify]: Simplify 0 into 0
11.114 * [backup-simplify]: Simplify 1 into 1
11.114 * [backup-simplify]: Simplify (* 1 1) into 1
11.114 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.114 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.114 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.114 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
11.114 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6)
11.115 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6))
11.115 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3))
11.115 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.115 * [backup-simplify]: Simplify (+ 0) into 0
11.115 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.116 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
11.116 * [backup-simplify]: Simplify (+ 0 0) into 0
11.116 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0
11.116 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0
11.116 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0
11.117 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0
11.117 * [taylor]: Taking taylor expansion of (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))) in phi1
11.117 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.117 * [backup-simplify]: Simplify 0.5 into 0.5
11.117 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1
11.117 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) in phi1
11.117 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 3) in phi1
11.117 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.117 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.117 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.117 * [backup-simplify]: Simplify 0.5 into 0.5
11.117 * [taylor]: Taking taylor expansion of phi1 in phi1
11.117 * [backup-simplify]: Simplify 0 into 0
11.117 * [backup-simplify]: Simplify 1 into 1
11.117 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.118 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.118 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 3)) in phi1
11.118 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
11.118 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.118 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.118 * [backup-simplify]: Simplify 0.5 into 0.5
11.118 * [taylor]: Taking taylor expansion of phi1 in phi1
11.118 * [backup-simplify]: Simplify 0 into 0
11.118 * [backup-simplify]: Simplify 1 into 1
11.118 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.119 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.119 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1
11.119 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.119 * [backup-simplify]: Simplify lambda1 into lambda1
11.119 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1
11.119 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1
11.119 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1
11.119 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.119 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.119 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.119 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.119 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.120 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.120 * [backup-simplify]: Simplify 0.5 into 0.5
11.120 * [taylor]: Taking taylor expansion of phi1 in phi1
11.120 * [backup-simplify]: Simplify 0 into 0
11.120 * [backup-simplify]: Simplify 1 into 1
11.120 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.121 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.121 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.121 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.121 * [backup-simplify]: Simplify lambda1 into lambda1
11.121 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.121 * [taylor]: Taking taylor expansion of phi1 in phi1
11.121 * [backup-simplify]: Simplify 0 into 0
11.121 * [backup-simplify]: Simplify 1 into 1
11.121 * [backup-simplify]: Simplify (* 1 1) into 1
11.121 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.121 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.121 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.121 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
11.122 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6)
11.122 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6))
11.122 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3))
11.122 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.122 * [backup-simplify]: Simplify (+ 0) into 0
11.123 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.123 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
11.123 * [backup-simplify]: Simplify (+ 0 0) into 0
11.123 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0
11.123 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0
11.124 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0
11.124 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0
11.124 * [backup-simplify]: Simplify (* 0 lambda1) into 0
11.124 * [backup-simplify]: Simplify (* 1 0) into 0
11.124 * [backup-simplify]: Simplify (* 0 (/ 1 lambda1)) into 0
11.124 * [backup-simplify]: Simplify (* 1.0 0) into 0
11.125 * [backup-simplify]: Simplify (* 1 1) into 1
11.125 * [backup-simplify]: Simplify (* lambda1 0) into 0
11.125 * [backup-simplify]: Simplify (* 1 0) into 0
11.125 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0
11.125 * [backup-simplify]: Simplify (* 1 1) into 1
11.126 * [backup-simplify]: Simplify (* 1 1) into 1
11.126 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.126 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
11.126 * [backup-simplify]: Simplify (* 0 (pow lambda1 3)) into 0
11.126 * [backup-simplify]: Simplify (* 1 0) into 0
11.126 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0
11.126 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.127 * [backup-simplify]: Simplify (+ 0 0) into 0
11.127 * [backup-simplify]: Simplify (- 0) into 0
11.127 * [backup-simplify]: Simplify (+ 0 0) into 0
11.127 * [taylor]: Taking taylor expansion of 0 in lambda1
11.127 * [backup-simplify]: Simplify 0 into 0
11.127 * [backup-simplify]: Simplify 0 into 0
11.128 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
11.128 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
11.129 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
11.130 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
11.130 * [backup-simplify]: Simplify (+ 0 0) into 0
11.131 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
11.131 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.132 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
11.132 * [backup-simplify]: Simplify (- 0) into 0
11.132 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
11.133 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2)))
11.133 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) (pow lambda1 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
11.134 * [backup-simplify]: Simplify (* 1 1) into 1
11.134 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 1) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
11.135 * [backup-simplify]: Simplify (+ 0 (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
11.135 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
11.136 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0
11.136 * [backup-simplify]: Simplify (- 0) into 0
11.137 * [backup-simplify]: Simplify (+ (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 0) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
11.139 * [backup-simplify]: Simplify (/ (- (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (pow (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) 2) (+)) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
11.139 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
11.139 * [taylor]: Taking taylor expansion of 1/2 in phi1
11.139 * [backup-simplify]: Simplify 1/2 into 1/2
11.139 * [taylor]: Taking taylor expansion of (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
11.139 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) in phi1
11.139 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) in phi1
11.139 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
11.139 * [taylor]: Taking taylor expansion of 0.25 in phi1
11.139 * [backup-simplify]: Simplify 0.25 into 0.25
11.139 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.139 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
11.139 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
11.140 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.140 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.140 * [backup-simplify]: Simplify 0.5 into 0.5
11.140 * [taylor]: Taking taylor expansion of phi1 in phi1
11.140 * [backup-simplify]: Simplify 0 into 0
11.140 * [backup-simplify]: Simplify 1 into 1
11.140 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.141 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
11.142 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.142 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.142 * [backup-simplify]: Simplify lambda1 into lambda1
11.142 * [taylor]: Taking taylor expansion of 1 in phi1
11.142 * [backup-simplify]: Simplify 1 into 1
11.142 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) in phi1
11.142 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
11.142 * [taylor]: Taking taylor expansion of 1.0 in phi1
11.142 * [backup-simplify]: Simplify 1.0 into 1.0
11.142 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
11.142 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1
11.142 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.142 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.142 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.142 * [backup-simplify]: Simplify 0.5 into 0.5
11.142 * [taylor]: Taking taylor expansion of phi1 in phi1
11.142 * [backup-simplify]: Simplify 0 into 0
11.142 * [backup-simplify]: Simplify 1 into 1
11.143 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.144 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.144 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1
11.144 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
11.144 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.144 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.144 * [backup-simplify]: Simplify 0.5 into 0.5
11.144 * [taylor]: Taking taylor expansion of phi1 in phi1
11.144 * [backup-simplify]: Simplify 0 into 0
11.144 * [backup-simplify]: Simplify 1 into 1
11.144 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.145 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.145 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1
11.145 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.145 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.145 * [backup-simplify]: Simplify lambda1 into lambda1
11.145 * [taylor]: Taking taylor expansion of phi1 in phi1
11.145 * [backup-simplify]: Simplify 0 into 0
11.145 * [backup-simplify]: Simplify 1 into 1
11.145 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.145 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.145 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.145 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.145 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.145 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.145 * [backup-simplify]: Simplify 0.5 into 0.5
11.145 * [taylor]: Taking taylor expansion of phi1 in phi1
11.145 * [backup-simplify]: Simplify 0 into 0
11.145 * [backup-simplify]: Simplify 1 into 1
11.145 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.146 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.146 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.146 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.146 * [backup-simplify]: Simplify lambda1 into lambda1
11.146 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.146 * [taylor]: Taking taylor expansion of phi1 in phi1
11.146 * [backup-simplify]: Simplify 0 into 0
11.146 * [backup-simplify]: Simplify 1 into 1
11.146 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.147 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0
11.147 * [backup-simplify]: Simplify (* 0 0) into 0
11.147 * [backup-simplify]: Simplify (* 1 0) into 0
11.147 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.147 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2)
11.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
11.149 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0
11.149 * [backup-simplify]: Simplify (+ 0) into 0
11.150 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0
11.150 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
11.150 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0
11.151 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
11.151 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.152 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2))
11.154 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
11.154 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2))
11.155 * [backup-simplify]: Simplify (* 1 1) into 1
11.155 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.155 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.155 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.155 * [backup-simplify]: Simplify (/ (* 0.5 (pow lambda1 2)) (pow lambda1 2)) into 0.5
11.155 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
11.155 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
11.155 * [taylor]: Taking taylor expansion of 0.25 in phi1
11.155 * [backup-simplify]: Simplify 0.25 into 0.25
11.155 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.155 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.155 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.155 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.155 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.155 * [backup-simplify]: Simplify 0.5 into 0.5
11.155 * [taylor]: Taking taylor expansion of phi1 in phi1
11.155 * [backup-simplify]: Simplify 0 into 0
11.155 * [backup-simplify]: Simplify 1 into 1
11.156 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.157 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.157 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.157 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.157 * [backup-simplify]: Simplify lambda1 into lambda1
11.157 * [taylor]: Taking taylor expansion of (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
11.157 * [taylor]: Taking taylor expansion of (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
11.157 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.157 * [taylor]: Taking taylor expansion of phi1 in phi1
11.157 * [backup-simplify]: Simplify 0 into 0
11.157 * [backup-simplify]: Simplify 1 into 1
11.157 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.157 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.157 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.157 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.157 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.157 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.157 * [backup-simplify]: Simplify 0.5 into 0.5
11.157 * [taylor]: Taking taylor expansion of phi1 in phi1
11.157 * [backup-simplify]: Simplify 0 into 0
11.157 * [backup-simplify]: Simplify 1 into 1
11.158 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.159 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.159 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.159 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.159 * [backup-simplify]: Simplify lambda1 into lambda1
11.159 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.159 * [taylor]: Taking taylor expansion of phi1 in phi1
11.159 * [backup-simplify]: Simplify 0 into 0
11.159 * [backup-simplify]: Simplify 1 into 1
11.160 * [backup-simplify]: Simplify (* 1 1) into 1
11.160 * [backup-simplify]: Simplify (* 1 1) into 1
11.160 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.160 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.161 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.161 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
11.161 * [taylor]: Taking taylor expansion of (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
11.161 * [taylor]: Taking taylor expansion of 0.25 in phi1
11.161 * [backup-simplify]: Simplify 0.25 into 0.25
11.161 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
11.161 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1
11.161 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.161 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.161 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.161 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.161 * [backup-simplify]: Simplify 0.5 into 0.5
11.161 * [taylor]: Taking taylor expansion of phi1 in phi1
11.161 * [backup-simplify]: Simplify 0 into 0
11.161 * [backup-simplify]: Simplify 1 into 1
11.162 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.163 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.163 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1
11.163 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
11.163 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
11.163 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.163 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.163 * [backup-simplify]: Simplify 0.5 into 0.5
11.163 * [taylor]: Taking taylor expansion of phi1 in phi1
11.163 * [backup-simplify]: Simplify 0 into 0
11.163 * [backup-simplify]: Simplify 1 into 1
11.164 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.165 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.168 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
11.168 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1
11.168 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.168 * [backup-simplify]: Simplify lambda1 into lambda1
11.168 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.168 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.168 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.168 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.168 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.168 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.168 * [backup-simplify]: Simplify 0.5 into 0.5
11.168 * [taylor]: Taking taylor expansion of phi1 in phi1
11.168 * [backup-simplify]: Simplify 0 into 0
11.168 * [backup-simplify]: Simplify 1 into 1
11.168 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.170 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.170 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.170 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.170 * [backup-simplify]: Simplify lambda1 into lambda1
11.170 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.170 * [taylor]: Taking taylor expansion of phi1 in phi1
11.170 * [backup-simplify]: Simplify 0 into 0
11.170 * [backup-simplify]: Simplify 1 into 1
11.171 * [backup-simplify]: Simplify (* 1 1) into 1
11.171 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25
11.171 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.171 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
11.171 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4))
11.172 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4))
11.172 * [backup-simplify]: Simplify (* 1 1) into 1
11.172 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.172 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.172 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.173 * [backup-simplify]: Simplify (/ (* 0.25 (pow lambda1 4)) (pow lambda1 2)) into (* 0.25 (pow lambda1 2))
11.173 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
11.173 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
11.173 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
11.173 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
11.173 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
11.173 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
11.173 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
11.173 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.173 * [backup-simplify]: Simplify 0.5 into 0.5
11.173 * [taylor]: Taking taylor expansion of phi1 in phi1
11.173 * [backup-simplify]: Simplify 0 into 0
11.173 * [backup-simplify]: Simplify 1 into 1
11.174 * [backup-simplify]: Simplify (* 0.5 0) into 0
11.175 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
11.175 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.175 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.175 * [backup-simplify]: Simplify lambda1 into lambda1
11.175 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.175 * [taylor]: Taking taylor expansion of phi1 in phi1
11.175 * [backup-simplify]: Simplify 0 into 0
11.175 * [backup-simplify]: Simplify 1 into 1
11.176 * [backup-simplify]: Simplify (* 1 1) into 1
11.176 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.176 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.176 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
11.176 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
11.176 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
11.176 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.177 * [backup-simplify]: Simplify (+ 0) into 0
11.178 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.178 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
11.178 * [backup-simplify]: Simplify (+ 0 0) into 0
11.179 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
11.179 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
11.179 * [backup-simplify]: Simplify (+ 0 1) into 1
11.180 * [backup-simplify]: Simplify (* 1 1) into 1
11.180 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.180 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
11.180 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2))
11.180 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2))
11.181 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2))
11.181 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2)))
11.181 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda1 2)))) into (- 1 (* 0.25 (pow lambda1 2)))
11.181 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda1 2))) (/ 1 lambda1)) into (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)
11.182 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1))
11.182 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1
11.182 * [taylor]: Taking taylor expansion of 1/2 in lambda1
11.182 * [backup-simplify]: Simplify 1/2 into 1/2
11.182 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1
11.182 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1
11.182 * [taylor]: Taking taylor expansion of 1 in lambda1
11.182 * [backup-simplify]: Simplify 1 into 1
11.182 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
11.182 * [taylor]: Taking taylor expansion of 0.25 in lambda1
11.182 * [backup-simplify]: Simplify 0.25 into 0.25
11.182 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
11.182 * [taylor]: Taking taylor expansion of lambda1 in lambda1
11.182 * [backup-simplify]: Simplify 0 into 0
11.182 * [backup-simplify]: Simplify 1 into 1
11.182 * [taylor]: Taking taylor expansion of lambda1 in lambda1
11.182 * [backup-simplify]: Simplify 0 into 0
11.182 * [backup-simplify]: Simplify 1 into 1
11.183 * [backup-simplify]: Simplify (+ 1 0) into 1
11.183 * [backup-simplify]: Simplify (/ 1 1) into 1
11.184 * [backup-simplify]: Simplify (+ 0 0) into 0
11.184 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
11.185 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
11.185 * [backup-simplify]: Simplify 0 into 0
11.185 * [backup-simplify]: Simplify (+ 0) into 0
11.186 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.187 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
11.187 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (/ 1 lambda1))) into 0
11.187 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 1)) into 0
11.187 * [taylor]: Taking taylor expansion of 0 in lambda1
11.188 * [backup-simplify]: Simplify 0 into 0
11.188 * [backup-simplify]: Simplify 0 into 0
11.188 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
11.191 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2))
11.191 * [backup-simplify]: Simplify (+ 0) into 0
11.192 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
11.192 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
11.193 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2
11.193 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) 2) into (+ (* 0.5 (pow lambda1 2)) 2)
11.194 * [backup-simplify]: Simplify (+ (* (/ 1 lambda1) (+ (* 0.5 (pow lambda1 2)) 2)) (* 0 0)) into (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1))
11.195 * [backup-simplify]: Simplify (+ (* -1/2 (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1))) (* 0 0)) into (- (+ (/ 1 lambda1) (* 0.25 lambda1)))
11.195 * [taylor]: Taking taylor expansion of (- (+ (/ 1 lambda1) (* 0.25 lambda1))) in lambda1
11.195 * [taylor]: Taking taylor expansion of (+ (/ 1 lambda1) (* 0.25 lambda1)) in lambda1
11.195 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
11.195 * [taylor]: Taking taylor expansion of lambda1 in lambda1
11.195 * [backup-simplify]: Simplify 0 into 0
11.195 * [backup-simplify]: Simplify 1 into 1
11.195 * [backup-simplify]: Simplify (/ 1 1) into 1
11.195 * [taylor]: Taking taylor expansion of (* 0.25 lambda1) in lambda1
11.195 * [taylor]: Taking taylor expansion of 0.25 in lambda1
11.195 * [backup-simplify]: Simplify 0.25 into 0.25
11.195 * [taylor]: Taking taylor expansion of lambda1 in lambda1
11.195 * [backup-simplify]: Simplify 0 into 0
11.195 * [backup-simplify]: Simplify 1 into 1
11.196 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
11.197 * [backup-simplify]: Simplify (* 0.25 0) into 0
11.197 * [backup-simplify]: Simplify (+ 0 0) into 0
11.197 * [backup-simplify]: Simplify (- 0) into 0
11.197 * [backup-simplify]: Simplify 0 into 0
11.198 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
11.201 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
11.205 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25)
11.207 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2)))
11.207 * [backup-simplify]: Simplify (* 1 1) into 1
11.207 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2)))
11.209 * [backup-simplify]: Simplify (/ (- (- 1 (* 0.25 (pow lambda1 2))) (pow 0 2) (+)) (* 2 lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1))
11.209 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1
11.209 * [taylor]: Taking taylor expansion of 1/2 in lambda1
11.209 * [backup-simplify]: Simplify 1/2 into 1/2
11.209 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1
11.209 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1
11.209 * [taylor]: Taking taylor expansion of 1 in lambda1
11.209 * [backup-simplify]: Simplify 1 into 1
11.209 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
11.209 * [taylor]: Taking taylor expansion of 0.25 in lambda1
11.209 * [backup-simplify]: Simplify 0.25 into 0.25
11.209 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
11.209 * [taylor]: Taking taylor expansion of lambda1 in lambda1
11.209 * [backup-simplify]: Simplify 0 into 0
11.209 * [backup-simplify]: Simplify 1 into 1
11.209 * [taylor]: Taking taylor expansion of lambda1 in lambda1
11.209 * [backup-simplify]: Simplify 0 into 0
11.209 * [backup-simplify]: Simplify 1 into 1
11.210 * [backup-simplify]: Simplify (+ 1 0) into 1
11.210 * [backup-simplify]: Simplify (/ 1 1) into 1
11.211 * [backup-simplify]: Simplify (+ 0 0) into 0
11.211 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
11.212 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
11.212 * [backup-simplify]: Simplify 0 into 0
11.213 * [backup-simplify]: Simplify (+ (* 1 (* lambda1 (* 1 (* 1 1)))) (* -1 (* 1 (* 1 (* 1 lambda2))))) into (- lambda1 lambda2)
11.217 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 lambda2) 2) (pow (- (* (cos (* 0.5 (/ 1 phi2))) (cos (* 0.5 (/ 1 phi1)))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (pow (/ 1 lambda1) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))))
11.218 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in (lambda2 phi2 phi1 lambda1) around 0
11.218 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in lambda1
11.218 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda1
11.218 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in lambda1
11.218 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1
11.218 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
11.218 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
11.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
11.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.218 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.218 * [backup-simplify]: Simplify 0.5 into 0.5
11.218 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.218 * [backup-simplify]: Simplify phi1 into phi1
11.218 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.219 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.219 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.219 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.219 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
11.219 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
11.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.219 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.219 * [backup-simplify]: Simplify 0.5 into 0.5
11.219 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.219 * [backup-simplify]: Simplify phi2 into phi2
11.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.219 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.220 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.220 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.220 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
11.220 * [taylor]: Taking taylor expansion of lambda2 in lambda1
11.220 * [backup-simplify]: Simplify lambda2 into lambda2
11.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.221 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.221 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.221 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
11.221 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in lambda1
11.221 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
11.221 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
11.221 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.221 * [backup-simplify]: Simplify phi2 into phi2
11.221 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
11.222 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
11.222 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in lambda1
11.222 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
11.222 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
11.222 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.222 * [backup-simplify]: Simplify phi1 into phi1
11.222 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
11.222 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
11.222 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in lambda1
11.222 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1
11.222 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
11.222 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
11.222 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
11.222 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.222 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.222 * [backup-simplify]: Simplify 0.5 into 0.5
11.222 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.222 * [backup-simplify]: Simplify phi1 into phi1
11.222 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.222 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.223 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.223 * [backup-simplify]: Simplify (- 0) into 0
11.223 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.223 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
11.224 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
11.224 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.224 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.224 * [backup-simplify]: Simplify 0.5 into 0.5
11.224 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.224 * [backup-simplify]: Simplify phi2 into phi2
11.224 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.224 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.224 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.224 * [backup-simplify]: Simplify (- 0) into 0
11.225 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.225 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
11.225 * [taylor]: Taking taylor expansion of lambda2 in lambda1
11.225 * [backup-simplify]: Simplify lambda2 into lambda2
11.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.225 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.225 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.226 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.226 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
11.226 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
11.226 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
11.226 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
11.226 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
11.226 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.226 * [backup-simplify]: Simplify 0.5 into 0.5
11.227 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
11.227 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
11.227 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.227 * [backup-simplify]: Simplify phi1 into phi1
11.227 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.227 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
11.227 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.227 * [backup-simplify]: Simplify phi2 into phi2
11.227 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.227 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
11.227 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
11.228 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.228 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.228 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.228 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
11.229 * [backup-simplify]: Simplify (- 0) into 0
11.229 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.229 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
11.229 * [taylor]: Taking taylor expansion of lambda1 in lambda1
11.229 * [backup-simplify]: Simplify 0 into 0
11.229 * [backup-simplify]: Simplify 1 into 1
11.230 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.230 * [backup-simplify]: Simplify (* 1 1) into 1
11.230 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.230 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda1
11.230 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
11.231 * [taylor]: Taking taylor expansion of 2 in lambda1
11.231 * [backup-simplify]: Simplify 2 into 2
11.231 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
11.231 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
11.231 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
11.231 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
11.231 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.231 * [backup-simplify]: Simplify 0.5 into 0.5
11.231 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
11.231 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
11.231 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.231 * [backup-simplify]: Simplify phi1 into phi1
11.231 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.231 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
11.231 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.231 * [backup-simplify]: Simplify phi2 into phi2
11.231 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.231 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
11.231 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
11.232 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.232 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.232 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.232 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
11.232 * [backup-simplify]: Simplify (- 0) into 0
11.233 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.233 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
11.233 * [taylor]: Taking taylor expansion of lambda2 in lambda1
11.233 * [backup-simplify]: Simplify lambda2 into lambda2
11.233 * [taylor]: Taking taylor expansion of lambda1 in lambda1
11.233 * [backup-simplify]: Simplify 0 into 0
11.233 * [backup-simplify]: Simplify 1 into 1
11.233 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.233 * [backup-simplify]: Simplify (* lambda2 0) into 0
11.234 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
11.234 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
11.234 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda1
11.234 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
11.234 * [taylor]: Taking taylor expansion of 2 in lambda1
11.234 * [backup-simplify]: Simplify 2 into 2
11.234 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
11.234 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
11.234 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.234 * [backup-simplify]: Simplify phi2 into phi2
11.234 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.234 * [backup-simplify]: Simplify phi1 into phi1
11.234 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
11.234 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
11.235 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda1
11.235 * [taylor]: Taking taylor expansion of 2 in lambda1
11.235 * [backup-simplify]: Simplify 2 into 2
11.235 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda1
11.235 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
11.235 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
11.235 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.235 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.235 * [backup-simplify]: Simplify 0.5 into 0.5
11.235 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.235 * [backup-simplify]: Simplify phi1 into phi1
11.235 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.235 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.235 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.235 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
11.235 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
11.235 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.235 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.235 * [backup-simplify]: Simplify 0.5 into 0.5
11.235 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.235 * [backup-simplify]: Simplify phi1 into phi1
11.235 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.235 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.236 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.236 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
11.236 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
11.236 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.236 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.236 * [backup-simplify]: Simplify 0.5 into 0.5
11.236 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.236 * [backup-simplify]: Simplify phi2 into phi2
11.236 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.236 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.236 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.236 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
11.236 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.236 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.236 * [backup-simplify]: Simplify 0.5 into 0.5
11.236 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.236 * [backup-simplify]: Simplify phi2 into phi2
11.236 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.236 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.236 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.236 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
11.236 * [taylor]: Taking taylor expansion of lambda2 in lambda1
11.236 * [backup-simplify]: Simplify lambda2 into lambda2
11.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.237 * [backup-simplify]: Simplify (- 0) into 0
11.237 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.238 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.238 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.238 * [backup-simplify]: Simplify (- 0) into 0
11.239 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.239 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.239 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.240 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
11.240 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.241 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.241 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.241 * [backup-simplify]: Simplify (+ 0 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.241 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.242 * [backup-simplify]: Simplify (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.242 * [backup-simplify]: Simplify (+ 0) into 0
11.243 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
11.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
11.243 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
11.244 * [backup-simplify]: Simplify (+ 0 0) into 0
11.244 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
11.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.252 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
11.253 * [backup-simplify]: Simplify (- 0) into 0
11.253 * [backup-simplify]: Simplify (+ 0 0) into 0
11.254 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
11.255 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.257 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
11.257 * [backup-simplify]: Simplify (+ 0 0) into 0
11.258 * [backup-simplify]: Simplify (+ 0 0) into 0
11.258 * [backup-simplify]: Simplify (+ 0 0) into 0
11.258 * [backup-simplify]: Simplify (+ 0 0) into 0
11.259 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
11.259 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
11.260 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
11.260 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
11.261 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
11.261 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in phi1
11.261 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in phi1
11.261 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in phi1
11.262 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1
11.262 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
11.262 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
11.262 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
11.262 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.262 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.262 * [backup-simplify]: Simplify 0.5 into 0.5
11.262 * [taylor]: Taking taylor expansion of phi1 in phi1
11.262 * [backup-simplify]: Simplify 0 into 0
11.262 * [backup-simplify]: Simplify 1 into 1
11.262 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.263 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.263 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
11.263 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
11.263 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.263 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.263 * [backup-simplify]: Simplify 0.5 into 0.5
11.263 * [taylor]: Taking taylor expansion of phi2 in phi1
11.263 * [backup-simplify]: Simplify phi2 into phi2
11.263 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.263 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.263 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.264 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.264 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.264 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
11.264 * [taylor]: Taking taylor expansion of lambda2 in phi1
11.264 * [backup-simplify]: Simplify lambda2 into lambda2
11.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.264 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.265 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.265 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.265 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
11.265 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in phi1
11.265 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
11.265 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
11.265 * [taylor]: Taking taylor expansion of phi2 in phi1
11.265 * [backup-simplify]: Simplify phi2 into phi2
11.265 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
11.266 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
11.266 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi1
11.266 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
11.266 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
11.266 * [taylor]: Taking taylor expansion of phi1 in phi1
11.266 * [backup-simplify]: Simplify 0 into 0
11.266 * [backup-simplify]: Simplify 1 into 1
11.266 * [backup-simplify]: Simplify (* 1 1) into 1
11.267 * [backup-simplify]: Simplify (/ 1 1) into 1
11.267 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi1
11.267 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1
11.267 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
11.267 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
11.267 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
11.267 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.267 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.267 * [backup-simplify]: Simplify 0.5 into 0.5
11.267 * [taylor]: Taking taylor expansion of phi1 in phi1
11.267 * [backup-simplify]: Simplify 0 into 0
11.267 * [backup-simplify]: Simplify 1 into 1
11.268 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.268 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
11.268 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
11.268 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.268 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.268 * [backup-simplify]: Simplify 0.5 into 0.5
11.268 * [taylor]: Taking taylor expansion of phi2 in phi1
11.268 * [backup-simplify]: Simplify phi2 into phi2
11.268 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.268 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.268 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.268 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.268 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.269 * [backup-simplify]: Simplify (- 0) into 0
11.269 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.269 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
11.269 * [taylor]: Taking taylor expansion of lambda2 in phi1
11.269 * [backup-simplify]: Simplify lambda2 into lambda2
11.269 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.269 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.270 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.270 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.270 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
11.270 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
11.270 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
11.270 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
11.270 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
11.271 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.271 * [backup-simplify]: Simplify 0.5 into 0.5
11.271 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
11.271 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
11.271 * [taylor]: Taking taylor expansion of phi1 in phi1
11.271 * [backup-simplify]: Simplify 0 into 0
11.271 * [backup-simplify]: Simplify 1 into 1
11.271 * [backup-simplify]: Simplify (/ 1 1) into 1
11.271 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
11.271 * [taylor]: Taking taylor expansion of phi2 in phi1
11.271 * [backup-simplify]: Simplify phi2 into phi2
11.271 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.272 * [backup-simplify]: Simplify (+ 1 0) into 1
11.272 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.272 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.272 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
11.272 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.273 * [backup-simplify]: Simplify lambda1 into lambda1
11.273 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.273 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.273 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
11.273 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi1
11.273 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
11.274 * [taylor]: Taking taylor expansion of 2 in phi1
11.274 * [backup-simplify]: Simplify 2 into 2
11.274 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
11.274 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
11.274 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
11.274 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
11.274 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.274 * [backup-simplify]: Simplify 0.5 into 0.5
11.274 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
11.274 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
11.274 * [taylor]: Taking taylor expansion of phi1 in phi1
11.274 * [backup-simplify]: Simplify 0 into 0
11.274 * [backup-simplify]: Simplify 1 into 1
11.274 * [backup-simplify]: Simplify (/ 1 1) into 1
11.274 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
11.274 * [taylor]: Taking taylor expansion of phi2 in phi1
11.274 * [backup-simplify]: Simplify phi2 into phi2
11.274 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.275 * [backup-simplify]: Simplify (+ 1 0) into 1
11.275 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.276 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.276 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
11.276 * [taylor]: Taking taylor expansion of lambda2 in phi1
11.276 * [backup-simplify]: Simplify lambda2 into lambda2
11.276 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.276 * [backup-simplify]: Simplify lambda1 into lambda1
11.276 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.276 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
11.277 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
11.277 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi1
11.277 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
11.277 * [taylor]: Taking taylor expansion of 2 in phi1
11.277 * [backup-simplify]: Simplify 2 into 2
11.277 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
11.277 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
11.277 * [taylor]: Taking taylor expansion of phi2 in phi1
11.277 * [backup-simplify]: Simplify phi2 into phi2
11.277 * [taylor]: Taking taylor expansion of phi1 in phi1
11.277 * [backup-simplify]: Simplify 0 into 0
11.277 * [backup-simplify]: Simplify 1 into 1
11.277 * [backup-simplify]: Simplify (* phi2 0) into 0
11.277 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
11.278 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.278 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1
11.278 * [taylor]: Taking taylor expansion of 2 in phi1
11.278 * [backup-simplify]: Simplify 2 into 2
11.278 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1
11.278 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
11.278 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
11.278 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.278 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.278 * [backup-simplify]: Simplify 0.5 into 0.5
11.278 * [taylor]: Taking taylor expansion of phi1 in phi1
11.278 * [backup-simplify]: Simplify 0 into 0
11.278 * [backup-simplify]: Simplify 1 into 1
11.278 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.278 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.279 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
11.279 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
11.279 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.279 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.279 * [backup-simplify]: Simplify 0.5 into 0.5
11.279 * [taylor]: Taking taylor expansion of phi1 in phi1
11.279 * [backup-simplify]: Simplify 0 into 0
11.279 * [backup-simplify]: Simplify 1 into 1
11.279 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.279 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.279 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
11.279 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
11.279 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.279 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.280 * [backup-simplify]: Simplify 0.5 into 0.5
11.280 * [taylor]: Taking taylor expansion of phi2 in phi1
11.280 * [backup-simplify]: Simplify phi2 into phi2
11.280 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.280 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.280 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
11.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.280 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.280 * [backup-simplify]: Simplify 0.5 into 0.5
11.280 * [taylor]: Taking taylor expansion of phi2 in phi1
11.280 * [backup-simplify]: Simplify phi2 into phi2
11.280 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.280 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.280 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
11.280 * [taylor]: Taking taylor expansion of lambda2 in phi1
11.280 * [backup-simplify]: Simplify lambda2 into lambda2
11.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.281 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.281 * [backup-simplify]: Simplify (- 0) into 0
11.282 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.282 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.283 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
11.283 * [backup-simplify]: Simplify (+ 1 0) into 1
11.284 * [backup-simplify]: Simplify (+ 0 1) into 1
11.284 * [backup-simplify]: Simplify (+ 0 1) into 1
11.285 * [backup-simplify]: Simplify (+ 1 0) into 1
11.285 * [backup-simplify]: Simplify (sqrt 1) into 1
11.286 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.287 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
11.287 * [backup-simplify]: Simplify (+ 0 0) into 0
11.287 * [backup-simplify]: Simplify (+ 0 0) into 0
11.288 * [backup-simplify]: Simplify (+ 0 0) into 0
11.288 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
11.288 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2))
11.288 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2))
11.288 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2)))
11.288 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
11.289 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
11.289 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in phi2
11.289 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in phi2
11.289 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in phi2
11.289 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2
11.289 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.289 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.289 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.289 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.289 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.289 * [backup-simplify]: Simplify 0.5 into 0.5
11.289 * [taylor]: Taking taylor expansion of phi1 in phi2
11.289 * [backup-simplify]: Simplify phi1 into phi1
11.290 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.290 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.290 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.290 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.290 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.290 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.290 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.290 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.290 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.290 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.290 * [backup-simplify]: Simplify 0.5 into 0.5
11.290 * [taylor]: Taking taylor expansion of phi2 in phi2
11.290 * [backup-simplify]: Simplify 0 into 0
11.290 * [backup-simplify]: Simplify 1 into 1
11.291 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.291 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.291 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
11.291 * [taylor]: Taking taylor expansion of lambda2 in phi2
11.291 * [backup-simplify]: Simplify lambda2 into lambda2
11.291 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.291 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.292 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.292 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.292 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
11.292 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in phi2
11.293 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
11.293 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
11.293 * [taylor]: Taking taylor expansion of phi2 in phi2
11.293 * [backup-simplify]: Simplify 0 into 0
11.293 * [backup-simplify]: Simplify 1 into 1
11.293 * [backup-simplify]: Simplify (* 1 1) into 1
11.293 * [backup-simplify]: Simplify (/ 1 1) into 1
11.294 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi2
11.294 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
11.294 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
11.294 * [taylor]: Taking taylor expansion of phi1 in phi2
11.294 * [backup-simplify]: Simplify phi1 into phi1
11.294 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
11.294 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
11.294 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi2
11.294 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2
11.294 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.294 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.294 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.294 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.294 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.294 * [backup-simplify]: Simplify 0.5 into 0.5
11.294 * [taylor]: Taking taylor expansion of phi1 in phi2
11.294 * [backup-simplify]: Simplify phi1 into phi1
11.294 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.294 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.295 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.295 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.295 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.295 * [backup-simplify]: Simplify (- 0) into 0
11.295 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.295 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.295 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.295 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.296 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.296 * [backup-simplify]: Simplify 0.5 into 0.5
11.296 * [taylor]: Taking taylor expansion of phi2 in phi2
11.296 * [backup-simplify]: Simplify 0 into 0
11.296 * [backup-simplify]: Simplify 1 into 1
11.296 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.296 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.296 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
11.296 * [taylor]: Taking taylor expansion of lambda2 in phi2
11.296 * [backup-simplify]: Simplify lambda2 into lambda2
11.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.297 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.297 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.297 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.298 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
11.298 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
11.298 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
11.298 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.298 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.298 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.298 * [backup-simplify]: Simplify 0.5 into 0.5
11.298 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.298 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.298 * [taylor]: Taking taylor expansion of phi1 in phi2
11.298 * [backup-simplify]: Simplify phi1 into phi1
11.298 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.298 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.298 * [taylor]: Taking taylor expansion of phi2 in phi2
11.298 * [backup-simplify]: Simplify 0 into 0
11.298 * [backup-simplify]: Simplify 1 into 1
11.299 * [backup-simplify]: Simplify (/ 1 1) into 1
11.299 * [backup-simplify]: Simplify (+ 0 1) into 1
11.300 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.300 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.300 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
11.300 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.300 * [backup-simplify]: Simplify lambda1 into lambda1
11.301 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.301 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.301 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
11.301 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi2
11.301 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
11.301 * [taylor]: Taking taylor expansion of 2 in phi2
11.301 * [backup-simplify]: Simplify 2 into 2
11.301 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
11.301 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
11.301 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.301 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.301 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.301 * [backup-simplify]: Simplify 0.5 into 0.5
11.302 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.302 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.302 * [taylor]: Taking taylor expansion of phi1 in phi2
11.302 * [backup-simplify]: Simplify phi1 into phi1
11.302 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.302 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.302 * [taylor]: Taking taylor expansion of phi2 in phi2
11.302 * [backup-simplify]: Simplify 0 into 0
11.302 * [backup-simplify]: Simplify 1 into 1
11.302 * [backup-simplify]: Simplify (/ 1 1) into 1
11.303 * [backup-simplify]: Simplify (+ 0 1) into 1
11.303 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.303 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.303 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
11.303 * [taylor]: Taking taylor expansion of lambda2 in phi2
11.303 * [backup-simplify]: Simplify lambda2 into lambda2
11.303 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.303 * [backup-simplify]: Simplify lambda1 into lambda1
11.304 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.304 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
11.304 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
11.304 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi2
11.304 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
11.304 * [taylor]: Taking taylor expansion of 2 in phi2
11.305 * [backup-simplify]: Simplify 2 into 2
11.305 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
11.305 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
11.305 * [taylor]: Taking taylor expansion of phi2 in phi2
11.305 * [backup-simplify]: Simplify 0 into 0
11.305 * [backup-simplify]: Simplify 1 into 1
11.305 * [taylor]: Taking taylor expansion of phi1 in phi2
11.305 * [backup-simplify]: Simplify phi1 into phi1
11.305 * [backup-simplify]: Simplify (* 0 phi1) into 0
11.305 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
11.305 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.305 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2
11.305 * [taylor]: Taking taylor expansion of 2 in phi2
11.305 * [backup-simplify]: Simplify 2 into 2
11.305 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2
11.305 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.306 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.306 * [backup-simplify]: Simplify 0.5 into 0.5
11.306 * [taylor]: Taking taylor expansion of phi1 in phi2
11.306 * [backup-simplify]: Simplify phi1 into phi1
11.306 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.306 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.306 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.306 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.306 * [backup-simplify]: Simplify 0.5 into 0.5
11.306 * [taylor]: Taking taylor expansion of phi1 in phi2
11.306 * [backup-simplify]: Simplify phi1 into phi1
11.306 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.306 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.306 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.307 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.307 * [backup-simplify]: Simplify 0.5 into 0.5
11.307 * [taylor]: Taking taylor expansion of phi2 in phi2
11.307 * [backup-simplify]: Simplify 0 into 0
11.307 * [backup-simplify]: Simplify 1 into 1
11.307 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.307 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.307 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.307 * [backup-simplify]: Simplify 0.5 into 0.5
11.307 * [taylor]: Taking taylor expansion of phi2 in phi2
11.307 * [backup-simplify]: Simplify 0 into 0
11.308 * [backup-simplify]: Simplify 1 into 1
11.308 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.308 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
11.308 * [taylor]: Taking taylor expansion of lambda2 in phi2
11.308 * [backup-simplify]: Simplify lambda2 into lambda2
11.308 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.309 * [backup-simplify]: Simplify (- 0) into 0
11.309 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.309 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.309 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.310 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
11.311 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
11.311 * [backup-simplify]: Simplify (+ 1 0) into 1
11.312 * [backup-simplify]: Simplify (+ 0 1) into 1
11.312 * [backup-simplify]: Simplify (+ 1 0) into 1
11.312 * [backup-simplify]: Simplify (sqrt 1) into 1
11.313 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.314 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
11.314 * [backup-simplify]: Simplify (+ 0 0) into 0
11.315 * [backup-simplify]: Simplify (+ 0 0) into 0
11.315 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
11.315 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1))
11.315 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1))
11.315 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
11.315 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
11.316 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
11.316 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in lambda2
11.316 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda2
11.316 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in lambda2
11.316 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
11.316 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
11.316 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
11.316 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
11.316 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
11.316 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.317 * [backup-simplify]: Simplify 0.5 into 0.5
11.317 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.317 * [backup-simplify]: Simplify phi1 into phi1
11.317 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.317 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.317 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.317 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.317 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.317 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.317 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
11.317 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
11.317 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
11.317 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.317 * [backup-simplify]: Simplify 0.5 into 0.5
11.317 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.317 * [backup-simplify]: Simplify phi2 into phi2
11.317 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.318 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.318 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.318 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.318 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.318 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
11.318 * [taylor]: Taking taylor expansion of lambda2 in lambda2
11.318 * [backup-simplify]: Simplify 0 into 0
11.318 * [backup-simplify]: Simplify 1 into 1
11.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.318 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.319 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.319 * [backup-simplify]: Simplify (* 1 1) into 1
11.320 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.320 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in lambda2
11.320 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
11.320 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
11.320 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.320 * [backup-simplify]: Simplify phi2 into phi2
11.320 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
11.320 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
11.320 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in lambda2
11.320 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
11.320 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
11.320 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.320 * [backup-simplify]: Simplify phi1 into phi1
11.320 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
11.320 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
11.320 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in lambda2
11.320 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
11.321 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
11.321 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
11.321 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
11.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
11.321 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.321 * [backup-simplify]: Simplify 0.5 into 0.5
11.321 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.321 * [backup-simplify]: Simplify phi1 into phi1
11.321 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.321 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.322 * [backup-simplify]: Simplify (- 0) into 0
11.322 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.322 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
11.322 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
11.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
11.322 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.322 * [backup-simplify]: Simplify 0.5 into 0.5
11.322 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.322 * [backup-simplify]: Simplify phi2 into phi2
11.322 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.323 * [backup-simplify]: Simplify (- 0) into 0
11.323 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.323 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
11.323 * [taylor]: Taking taylor expansion of lambda2 in lambda2
11.323 * [backup-simplify]: Simplify 0 into 0
11.323 * [backup-simplify]: Simplify 1 into 1
11.323 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.323 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.324 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.324 * [backup-simplify]: Simplify (* 1 1) into 1
11.324 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.325 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
11.325 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
11.325 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
11.325 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
11.325 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.325 * [backup-simplify]: Simplify 0.5 into 0.5
11.325 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
11.325 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
11.325 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.325 * [backup-simplify]: Simplify phi1 into phi1
11.325 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.325 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
11.325 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.325 * [backup-simplify]: Simplify phi2 into phi2
11.325 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.325 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
11.325 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
11.325 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.326 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.326 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.326 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
11.326 * [backup-simplify]: Simplify (- 0) into 0
11.327 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.327 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
11.327 * [taylor]: Taking taylor expansion of lambda1 in lambda2
11.327 * [backup-simplify]: Simplify lambda1 into lambda1
11.327 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.327 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.328 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
11.328 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2
11.328 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
11.328 * [taylor]: Taking taylor expansion of 2 in lambda2
11.328 * [backup-simplify]: Simplify 2 into 2
11.328 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
11.328 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
11.328 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
11.328 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
11.328 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.328 * [backup-simplify]: Simplify 0.5 into 0.5
11.328 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
11.328 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
11.328 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.328 * [backup-simplify]: Simplify phi1 into phi1
11.328 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.328 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
11.328 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.328 * [backup-simplify]: Simplify phi2 into phi2
11.328 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.328 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
11.328 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
11.329 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.329 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.329 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.329 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
11.330 * [backup-simplify]: Simplify (- 0) into 0
11.330 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.330 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
11.330 * [taylor]: Taking taylor expansion of lambda2 in lambda2
11.330 * [backup-simplify]: Simplify 0 into 0
11.330 * [backup-simplify]: Simplify 1 into 1
11.330 * [taylor]: Taking taylor expansion of lambda1 in lambda2
11.330 * [backup-simplify]: Simplify lambda1 into lambda1
11.330 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.330 * [backup-simplify]: Simplify (* 0 lambda1) into 0
11.331 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
11.331 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
11.331 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2
11.331 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
11.331 * [taylor]: Taking taylor expansion of 2 in lambda2
11.331 * [backup-simplify]: Simplify 2 into 2
11.331 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
11.331 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
11.331 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.331 * [backup-simplify]: Simplify phi2 into phi2
11.331 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.332 * [backup-simplify]: Simplify phi1 into phi1
11.332 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
11.332 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
11.332 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2
11.332 * [taylor]: Taking taylor expansion of 2 in lambda2
11.332 * [backup-simplify]: Simplify 2 into 2
11.332 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2
11.332 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
11.332 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
11.332 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
11.332 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.332 * [backup-simplify]: Simplify 0.5 into 0.5
11.332 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.332 * [backup-simplify]: Simplify phi1 into phi1
11.332 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.332 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.332 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.332 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
11.332 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
11.332 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
11.332 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.332 * [backup-simplify]: Simplify 0.5 into 0.5
11.332 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.332 * [backup-simplify]: Simplify phi1 into phi1
11.332 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.333 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.333 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.333 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
11.333 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
11.333 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
11.333 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.333 * [backup-simplify]: Simplify 0.5 into 0.5
11.333 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.333 * [backup-simplify]: Simplify phi2 into phi2
11.333 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.333 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.333 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.333 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
11.333 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
11.333 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.333 * [backup-simplify]: Simplify 0.5 into 0.5
11.333 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.333 * [backup-simplify]: Simplify phi2 into phi2
11.333 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.333 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.334 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.334 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
11.334 * [taylor]: Taking taylor expansion of lambda2 in lambda2
11.334 * [backup-simplify]: Simplify 0 into 0
11.334 * [backup-simplify]: Simplify 1 into 1
11.334 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.334 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.334 * [backup-simplify]: Simplify (- 0) into 0
11.334 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.334 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.335 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.335 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.335 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.335 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.335 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.335 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.335 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.336 * [backup-simplify]: Simplify (- 0) into 0
11.336 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.336 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.336 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.337 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.337 * [backup-simplify]: Simplify (* 1 1) into 1
11.337 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.338 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 0) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.338 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.339 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.339 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.340 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.340 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.341 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.341 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.343 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.344 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.345 * [backup-simplify]: Simplify (+ 0) into 0
11.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.346 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.346 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.347 * [backup-simplify]: Simplify (+ 0 0) into 0
11.347 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.348 * [backup-simplify]: Simplify (+ 0) into 0
11.348 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.350 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.350 * [backup-simplify]: Simplify (+ 0 0) into 0
11.350 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.351 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.351 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.352 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
11.353 * [backup-simplify]: Simplify (+ 0) into 0
11.353 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.353 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.354 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.354 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.355 * [backup-simplify]: Simplify (- 0) into 0
11.355 * [backup-simplify]: Simplify (+ 0 0) into 0
11.355 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.356 * [backup-simplify]: Simplify (+ 0) into 0
11.356 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.357 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.358 * [backup-simplify]: Simplify (- 0) into 0
11.358 * [backup-simplify]: Simplify (+ 0 0) into 0
11.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.359 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.360 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.361 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
11.361 * [backup-simplify]: Simplify (+ 0 0) into 0
11.361 * [backup-simplify]: Simplify (+ 0 0) into 0
11.362 * [backup-simplify]: Simplify (+ 0 0) into 0
11.362 * [backup-simplify]: Simplify (+ 0 0) into 0
11.362 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
11.363 * [backup-simplify]: Simplify (+ 0) into 0
11.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.364 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.365 * [backup-simplify]: Simplify (- 0) into 0
11.365 * [backup-simplify]: Simplify (+ 0 0) into 0
11.366 * [backup-simplify]: Simplify (+ 0) into 0
11.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.366 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.367 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.368 * [backup-simplify]: Simplify (+ 0 0) into 0
11.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.368 * [backup-simplify]: Simplify (+ 0) into 0
11.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.369 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.370 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.371 * [backup-simplify]: Simplify (+ 0 0) into 0
11.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.371 * [backup-simplify]: Simplify (+ 0) into 0
11.372 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.372 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.374 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.374 * [backup-simplify]: Simplify (- 0) into 0
11.374 * [backup-simplify]: Simplify (+ 0 0) into 0
11.375 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.375 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.376 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0
11.377 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.377 * [backup-simplify]: Simplify (+ 0 0) into 0
11.378 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
11.378 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
11.379 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
11.381 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
11.381 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))))) in lambda2
11.381 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))) in lambda2
11.381 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))))) in lambda2
11.381 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
11.381 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
11.381 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
11.381 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
11.381 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
11.381 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.381 * [backup-simplify]: Simplify 0.5 into 0.5
11.381 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.381 * [backup-simplify]: Simplify phi1 into phi1
11.381 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.381 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.381 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.381 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.381 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.382 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.382 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
11.382 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
11.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
11.382 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.382 * [backup-simplify]: Simplify 0.5 into 0.5
11.382 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.382 * [backup-simplify]: Simplify phi2 into phi2
11.382 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.382 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.382 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.382 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.382 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.382 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
11.382 * [taylor]: Taking taylor expansion of lambda2 in lambda2
11.382 * [backup-simplify]: Simplify 0 into 0
11.382 * [backup-simplify]: Simplify 1 into 1
11.383 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.383 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.383 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.383 * [backup-simplify]: Simplify (* 1 1) into 1
11.384 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.384 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) in lambda2
11.384 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
11.384 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
11.384 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.384 * [backup-simplify]: Simplify phi2 into phi2
11.384 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
11.384 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
11.384 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in lambda2
11.384 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
11.384 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
11.384 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.384 * [backup-simplify]: Simplify phi1 into phi1
11.384 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
11.384 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
11.385 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in lambda2
11.385 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
11.385 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
11.385 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
11.385 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
11.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
11.385 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.385 * [backup-simplify]: Simplify 0.5 into 0.5
11.385 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.385 * [backup-simplify]: Simplify phi1 into phi1
11.385 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.385 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.385 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.385 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.385 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.386 * [backup-simplify]: Simplify (- 0) into 0
11.386 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.386 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
11.386 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
11.386 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
11.386 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.386 * [backup-simplify]: Simplify 0.5 into 0.5
11.386 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.386 * [backup-simplify]: Simplify phi2 into phi2
11.386 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.386 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.386 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.386 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.386 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.387 * [backup-simplify]: Simplify (- 0) into 0
11.387 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.387 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
11.387 * [taylor]: Taking taylor expansion of lambda2 in lambda2
11.387 * [backup-simplify]: Simplify 0 into 0
11.387 * [backup-simplify]: Simplify 1 into 1
11.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.388 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.388 * [backup-simplify]: Simplify (* 1 1) into 1
11.389 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.389 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
11.389 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
11.389 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
11.389 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
11.389 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.389 * [backup-simplify]: Simplify 0.5 into 0.5
11.389 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
11.389 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
11.389 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.389 * [backup-simplify]: Simplify phi1 into phi1
11.389 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.389 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
11.389 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.389 * [backup-simplify]: Simplify phi2 into phi2
11.389 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.389 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
11.389 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
11.389 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.390 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.390 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.390 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
11.391 * [backup-simplify]: Simplify (- 0) into 0
11.391 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.391 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
11.391 * [taylor]: Taking taylor expansion of lambda1 in lambda2
11.391 * [backup-simplify]: Simplify lambda1 into lambda1
11.391 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.391 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.392 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
11.392 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2
11.392 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
11.392 * [taylor]: Taking taylor expansion of 2 in lambda2
11.392 * [backup-simplify]: Simplify 2 into 2
11.392 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
11.392 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
11.392 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
11.392 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
11.392 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.392 * [backup-simplify]: Simplify 0.5 into 0.5
11.392 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
11.392 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
11.392 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.392 * [backup-simplify]: Simplify phi1 into phi1
11.392 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.392 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
11.392 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.392 * [backup-simplify]: Simplify phi2 into phi2
11.392 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.393 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
11.393 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
11.393 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.393 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.393 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.393 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
11.394 * [backup-simplify]: Simplify (- 0) into 0
11.394 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.394 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
11.394 * [taylor]: Taking taylor expansion of lambda2 in lambda2
11.394 * [backup-simplify]: Simplify 0 into 0
11.394 * [backup-simplify]: Simplify 1 into 1
11.394 * [taylor]: Taking taylor expansion of lambda1 in lambda2
11.394 * [backup-simplify]: Simplify lambda1 into lambda1
11.395 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.395 * [backup-simplify]: Simplify (* 0 lambda1) into 0
11.395 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
11.396 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
11.396 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2
11.396 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
11.396 * [taylor]: Taking taylor expansion of 2 in lambda2
11.396 * [backup-simplify]: Simplify 2 into 2
11.396 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
11.396 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
11.396 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.396 * [backup-simplify]: Simplify phi2 into phi2
11.396 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.396 * [backup-simplify]: Simplify phi1 into phi1
11.396 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
11.396 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
11.396 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2
11.396 * [taylor]: Taking taylor expansion of 2 in lambda2
11.396 * [backup-simplify]: Simplify 2 into 2
11.396 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2
11.396 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
11.396 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
11.396 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
11.396 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.396 * [backup-simplify]: Simplify 0.5 into 0.5
11.396 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.396 * [backup-simplify]: Simplify phi1 into phi1
11.396 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.397 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.397 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.397 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
11.397 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
11.397 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
11.397 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.397 * [backup-simplify]: Simplify 0.5 into 0.5
11.397 * [taylor]: Taking taylor expansion of phi1 in lambda2
11.397 * [backup-simplify]: Simplify phi1 into phi1
11.397 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.397 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.397 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.397 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
11.397 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
11.397 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
11.397 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.397 * [backup-simplify]: Simplify 0.5 into 0.5
11.397 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.397 * [backup-simplify]: Simplify phi2 into phi2
11.397 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.397 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.398 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
11.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
11.398 * [taylor]: Taking taylor expansion of 0.5 in lambda2
11.398 * [backup-simplify]: Simplify 0.5 into 0.5
11.398 * [taylor]: Taking taylor expansion of phi2 in lambda2
11.398 * [backup-simplify]: Simplify phi2 into phi2
11.398 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.398 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.398 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
11.398 * [taylor]: Taking taylor expansion of lambda2 in lambda2
11.398 * [backup-simplify]: Simplify 0 into 0
11.398 * [backup-simplify]: Simplify 1 into 1
11.398 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.398 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.399 * [backup-simplify]: Simplify (- 0) into 0
11.399 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.399 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.399 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.399 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.399 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.400 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.400 * [backup-simplify]: Simplify (- 0) into 0
11.400 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.400 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.401 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.401 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.401 * [backup-simplify]: Simplify (* 1 1) into 1
11.402 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.402 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 0) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.403 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.403 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.404 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.405 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.405 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.406 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.407 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.409 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.410 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.411 * [backup-simplify]: Simplify (+ 0) into 0
11.412 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.412 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.414 * [backup-simplify]: Simplify (+ 0 0) into 0
11.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.415 * [backup-simplify]: Simplify (+ 0) into 0
11.415 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.415 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.417 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.417 * [backup-simplify]: Simplify (+ 0 0) into 0
11.417 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.418 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.418 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.420 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
11.420 * [backup-simplify]: Simplify (+ 0) into 0
11.421 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.421 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.422 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.422 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.422 * [backup-simplify]: Simplify (- 0) into 0
11.423 * [backup-simplify]: Simplify (+ 0 0) into 0
11.423 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.424 * [backup-simplify]: Simplify (+ 0) into 0
11.424 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.425 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.425 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.426 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.426 * [backup-simplify]: Simplify (- 0) into 0
11.426 * [backup-simplify]: Simplify (+ 0 0) into 0
11.427 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.427 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.428 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.429 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
11.429 * [backup-simplify]: Simplify (+ 0 0) into 0
11.430 * [backup-simplify]: Simplify (+ 0 0) into 0
11.430 * [backup-simplify]: Simplify (+ 0 0) into 0
11.431 * [backup-simplify]: Simplify (+ 0 0) into 0
11.431 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
11.431 * [backup-simplify]: Simplify (+ 0) into 0
11.432 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.432 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.433 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.433 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.434 * [backup-simplify]: Simplify (- 0) into 0
11.434 * [backup-simplify]: Simplify (+ 0 0) into 0
11.435 * [backup-simplify]: Simplify (+ 0) into 0
11.435 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.435 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.441 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.442 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.443 * [backup-simplify]: Simplify (+ 0 0) into 0
11.443 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.443 * [backup-simplify]: Simplify (+ 0) into 0
11.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.444 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.445 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.446 * [backup-simplify]: Simplify (+ 0 0) into 0
11.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.446 * [backup-simplify]: Simplify (+ 0) into 0
11.447 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.447 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.448 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.448 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.449 * [backup-simplify]: Simplify (- 0) into 0
11.449 * [backup-simplify]: Simplify (+ 0 0) into 0
11.450 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.450 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.452 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0
11.452 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.453 * [backup-simplify]: Simplify (+ 0 0) into 0
11.453 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
11.453 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
11.454 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
11.455 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
11.455 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
11.455 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.455 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.455 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.455 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.455 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.455 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.455 * [backup-simplify]: Simplify 0.5 into 0.5
11.455 * [taylor]: Taking taylor expansion of phi1 in phi2
11.455 * [backup-simplify]: Simplify phi1 into phi1
11.455 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.456 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.456 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.456 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.456 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.456 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.456 * [backup-simplify]: Simplify 0.5 into 0.5
11.456 * [taylor]: Taking taylor expansion of phi2 in phi2
11.456 * [backup-simplify]: Simplify 0 into 0
11.456 * [backup-simplify]: Simplify 1 into 1
11.456 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.456 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.456 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.456 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.456 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.456 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.456 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.456 * [backup-simplify]: Simplify 0.5 into 0.5
11.456 * [taylor]: Taking taylor expansion of phi1 in phi2
11.456 * [backup-simplify]: Simplify phi1 into phi1
11.456 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.457 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.457 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.457 * [backup-simplify]: Simplify (- 0) into 0
11.457 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.457 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.457 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.457 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.457 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.457 * [backup-simplify]: Simplify 0.5 into 0.5
11.457 * [taylor]: Taking taylor expansion of phi2 in phi2
11.457 * [backup-simplify]: Simplify 0 into 0
11.457 * [backup-simplify]: Simplify 1 into 1
11.458 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.458 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.458 * [taylor]: Taking taylor expansion of 2 in phi2
11.458 * [backup-simplify]: Simplify 2 into 2
11.458 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.458 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.458 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.458 * [backup-simplify]: Simplify 0.5 into 0.5
11.458 * [taylor]: Taking taylor expansion of phi1 in phi2
11.458 * [backup-simplify]: Simplify phi1 into phi1
11.458 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.458 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.458 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.458 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.458 * [backup-simplify]: Simplify 0.5 into 0.5
11.458 * [taylor]: Taking taylor expansion of phi1 in phi2
11.458 * [backup-simplify]: Simplify phi1 into phi1
11.458 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.458 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.458 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.458 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.458 * [backup-simplify]: Simplify 0.5 into 0.5
11.458 * [taylor]: Taking taylor expansion of phi2 in phi2
11.458 * [backup-simplify]: Simplify 0 into 0
11.458 * [backup-simplify]: Simplify 1 into 1
11.459 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.459 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.459 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.459 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.459 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.459 * [backup-simplify]: Simplify 0.5 into 0.5
11.459 * [taylor]: Taking taylor expansion of phi2 in phi2
11.459 * [backup-simplify]: Simplify 0 into 0
11.459 * [backup-simplify]: Simplify 1 into 1
11.459 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.459 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.460 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.460 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.461 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.461 * [backup-simplify]: Simplify (- 0) into 0
11.461 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.461 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.461 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.461 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.462 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.462 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.462 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.462 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.463 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.464 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.464 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.464 * [backup-simplify]: Simplify (+ 0) into 0
11.465 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.465 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.466 * [backup-simplify]: Simplify (+ 0 0) into 0
11.466 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.466 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.466 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.467 * [backup-simplify]: Simplify (+ 0) into 0
11.467 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.467 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.468 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.468 * [backup-simplify]: Simplify (- 0) into 0
11.468 * [backup-simplify]: Simplify (+ 0 0) into 0
11.468 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.469 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.469 * [backup-simplify]: Simplify (+ 0 0) into 0
11.469 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.469 * [backup-simplify]: Simplify (+ 0) into 0
11.470 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.470 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.470 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.470 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.471 * [backup-simplify]: Simplify (+ 0 0) into 0
11.471 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.471 * [backup-simplify]: Simplify (+ 0) into 0
11.471 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.472 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.472 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.472 * [backup-simplify]: Simplify (- 0) into 0
11.473 * [backup-simplify]: Simplify (+ 0 0) into 0
11.473 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.473 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.474 * [backup-simplify]: Simplify (- 0) into 0
11.474 * [backup-simplify]: Simplify (+ 0 0) into 0
11.475 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
11.475 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2
11.475 * [taylor]: Taking taylor expansion of -1 in phi2
11.475 * [backup-simplify]: Simplify -1 into -1
11.475 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2
11.475 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
11.475 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
11.475 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.475 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.475 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.475 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.475 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.475 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.475 * [backup-simplify]: Simplify 0.5 into 0.5
11.475 * [taylor]: Taking taylor expansion of phi1 in phi2
11.475 * [backup-simplify]: Simplify phi1 into phi1
11.475 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.475 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.475 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.475 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.476 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.476 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.476 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.476 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.476 * [backup-simplify]: Simplify 0.5 into 0.5
11.476 * [taylor]: Taking taylor expansion of phi2 in phi2
11.476 * [backup-simplify]: Simplify 0 into 0
11.476 * [backup-simplify]: Simplify 1 into 1
11.476 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.476 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.476 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.476 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.476 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.476 * [backup-simplify]: Simplify 0.5 into 0.5
11.476 * [taylor]: Taking taylor expansion of phi1 in phi2
11.476 * [backup-simplify]: Simplify phi1 into phi1
11.476 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.477 * [backup-simplify]: Simplify (- 0) into 0
11.477 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.477 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.477 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.477 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.477 * [backup-simplify]: Simplify 0.5 into 0.5
11.477 * [taylor]: Taking taylor expansion of phi2 in phi2
11.477 * [backup-simplify]: Simplify 0 into 0
11.477 * [backup-simplify]: Simplify 1 into 1
11.477 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.477 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.477 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.477 * [taylor]: Taking taylor expansion of 2 in phi2
11.477 * [backup-simplify]: Simplify 2 into 2
11.477 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.477 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.477 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.478 * [backup-simplify]: Simplify 0.5 into 0.5
11.478 * [taylor]: Taking taylor expansion of phi1 in phi2
11.478 * [backup-simplify]: Simplify phi1 into phi1
11.478 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.478 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.478 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.478 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.478 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.478 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.478 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.478 * [backup-simplify]: Simplify 0.5 into 0.5
11.478 * [taylor]: Taking taylor expansion of phi1 in phi2
11.478 * [backup-simplify]: Simplify phi1 into phi1
11.478 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.478 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.478 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.478 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.478 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.478 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.478 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.478 * [backup-simplify]: Simplify 0.5 into 0.5
11.478 * [taylor]: Taking taylor expansion of phi2 in phi2
11.478 * [backup-simplify]: Simplify 0 into 0
11.478 * [backup-simplify]: Simplify 1 into 1
11.478 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.478 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.478 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.479 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.479 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.479 * [backup-simplify]: Simplify 0.5 into 0.5
11.479 * [taylor]: Taking taylor expansion of phi2 in phi2
11.479 * [backup-simplify]: Simplify 0 into 0
11.479 * [backup-simplify]: Simplify 1 into 1
11.479 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.479 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.479 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.480 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.480 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.480 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.480 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.480 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.481 * [backup-simplify]: Simplify (- 0) into 0
11.481 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.481 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.481 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.481 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.482 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.482 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.483 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.485 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.486 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.488 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.488 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.488 * [backup-simplify]: Simplify (+ 0) into 0
11.489 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.489 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.490 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.490 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.491 * [backup-simplify]: Simplify (+ 0 0) into 0
11.491 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.491 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.492 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.492 * [backup-simplify]: Simplify (+ 0) into 0
11.493 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.494 * [backup-simplify]: Simplify (- 0) into 0
11.495 * [backup-simplify]: Simplify (+ 0 0) into 0
11.495 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.495 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.496 * [backup-simplify]: Simplify (+ 0 0) into 0
11.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.496 * [backup-simplify]: Simplify (+ 0) into 0
11.497 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.497 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.498 * [backup-simplify]: Simplify (+ 0 0) into 0
11.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.498 * [backup-simplify]: Simplify (+ 0) into 0
11.499 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.499 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.500 * [backup-simplify]: Simplify (- 0) into 0
11.500 * [backup-simplify]: Simplify (+ 0 0) into 0
11.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.501 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.501 * [backup-simplify]: Simplify (- 0) into 0
11.501 * [backup-simplify]: Simplify (+ 0 0) into 0
11.503 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.504 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.504 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2
11.504 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
11.504 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.504 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.504 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.504 * [backup-simplify]: Simplify 0.5 into 0.5
11.504 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.504 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.504 * [taylor]: Taking taylor expansion of phi1 in phi2
11.504 * [backup-simplify]: Simplify phi1 into phi1
11.504 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.504 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.504 * [taylor]: Taking taylor expansion of phi2 in phi2
11.504 * [backup-simplify]: Simplify 0 into 0
11.504 * [backup-simplify]: Simplify 1 into 1
11.504 * [backup-simplify]: Simplify (/ 1 1) into 1
11.505 * [backup-simplify]: Simplify (+ 0 1) into 1
11.505 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.505 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.505 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.505 * [backup-simplify]: Simplify lambda1 into lambda1
11.505 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.506 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
11.506 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
11.506 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
11.506 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
11.506 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
11.506 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
11.506 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
11.506 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.506 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.506 * [backup-simplify]: Simplify 0.5 into 0.5
11.506 * [taylor]: Taking taylor expansion of phi1 in phi1
11.506 * [backup-simplify]: Simplify 0 into 0
11.506 * [backup-simplify]: Simplify 1 into 1
11.506 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.506 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.506 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
11.506 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
11.506 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.506 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.506 * [backup-simplify]: Simplify 0.5 into 0.5
11.506 * [taylor]: Taking taylor expansion of phi2 in phi1
11.506 * [backup-simplify]: Simplify phi2 into phi2
11.506 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.507 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.507 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.507 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.507 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.507 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.507 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
11.507 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
11.507 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
11.507 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.507 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.507 * [backup-simplify]: Simplify 0.5 into 0.5
11.507 * [taylor]: Taking taylor expansion of phi1 in phi1
11.507 * [backup-simplify]: Simplify 0 into 0
11.507 * [backup-simplify]: Simplify 1 into 1
11.507 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.507 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.507 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
11.507 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
11.507 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.507 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.508 * [backup-simplify]: Simplify 0.5 into 0.5
11.508 * [taylor]: Taking taylor expansion of phi2 in phi1
11.508 * [backup-simplify]: Simplify phi2 into phi2
11.508 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.508 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.508 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.508 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.508 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.508 * [backup-simplify]: Simplify (- 0) into 0
11.508 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.508 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
11.508 * [taylor]: Taking taylor expansion of 2 in phi1
11.508 * [backup-simplify]: Simplify 2 into 2
11.508 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
11.508 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
11.508 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.508 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.508 * [backup-simplify]: Simplify 0.5 into 0.5
11.508 * [taylor]: Taking taylor expansion of phi1 in phi1
11.508 * [backup-simplify]: Simplify 0 into 0
11.508 * [backup-simplify]: Simplify 1 into 1
11.509 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.509 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.509 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
11.509 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
11.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.509 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.509 * [backup-simplify]: Simplify 0.5 into 0.5
11.509 * [taylor]: Taking taylor expansion of phi1 in phi1
11.509 * [backup-simplify]: Simplify 0 into 0
11.509 * [backup-simplify]: Simplify 1 into 1
11.509 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.509 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.509 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
11.509 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
11.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.509 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.509 * [backup-simplify]: Simplify 0.5 into 0.5
11.509 * [taylor]: Taking taylor expansion of phi2 in phi1
11.510 * [backup-simplify]: Simplify phi2 into phi2
11.510 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.510 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
11.510 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.510 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.510 * [backup-simplify]: Simplify 0.5 into 0.5
11.510 * [taylor]: Taking taylor expansion of phi2 in phi1
11.510 * [backup-simplify]: Simplify phi2 into phi2
11.510 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.510 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.510 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.510 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.510 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.511 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.511 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.511 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.511 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.511 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.512 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.512 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.512 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.512 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.512 * [backup-simplify]: Simplify (- 0) into 0
11.512 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.512 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.512 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.513 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.513 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.513 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.514 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.515 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.515 * [backup-simplify]: Simplify (+ 0) into 0
11.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.516 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.517 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.517 * [backup-simplify]: Simplify (+ 0 0) into 0
11.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.518 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.518 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.519 * [backup-simplify]: Simplify (+ 0) into 0
11.519 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.520 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.521 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.521 * [backup-simplify]: Simplify (- 0) into 0
11.521 * [backup-simplify]: Simplify (+ 0 0) into 0
11.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.522 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.522 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.523 * [backup-simplify]: Simplify (+ 0 0) into 0
11.523 * [backup-simplify]: Simplify (+ 0) into 0
11.524 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.524 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.525 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.525 * [backup-simplify]: Simplify (- 0) into 0
11.526 * [backup-simplify]: Simplify (+ 0 0) into 0
11.526 * [backup-simplify]: Simplify (+ 0) into 0
11.527 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.527 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.528 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.529 * [backup-simplify]: Simplify (+ 0 0) into 0
11.529 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.530 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.531 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.531 * [backup-simplify]: Simplify (- 0) into 0
11.532 * [backup-simplify]: Simplify (+ 0 0) into 0
11.534 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
11.535 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
11.536 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.537 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
11.538 * [backup-simplify]: Simplify (+ 0 0) into 0
11.538 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
11.539 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.540 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
11.540 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.541 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.542 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
11.542 * [backup-simplify]: Simplify (+ 0 0) into 0
11.543 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
11.543 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
11.545 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
11.546 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
11.547 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
11.548 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.549 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
11.550 * [backup-simplify]: Simplify (- 0) into 0
11.550 * [backup-simplify]: Simplify (+ 0 0) into 0
11.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
11.552 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.552 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
11.553 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.553 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.554 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
11.554 * [backup-simplify]: Simplify (- 0) into 0
11.555 * [backup-simplify]: Simplify (+ 0 0) into 0
11.555 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
11.556 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
11.557 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
11.559 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
11.559 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
11.560 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))
11.561 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))
11.562 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))))
11.563 * [backup-simplify]: Simplify (+ 0) into 0
11.563 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
11.563 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
11.564 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
11.564 * [backup-simplify]: Simplify (+ 0 0) into 0
11.565 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
11.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.566 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
11.566 * [backup-simplify]: Simplify (- 0) into 0
11.567 * [backup-simplify]: Simplify (+ 0 0) into 0
11.567 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
11.568 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
11.569 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
11.570 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
11.570 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
11.571 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
11.572 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.573 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.573 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
11.574 * [backup-simplify]: Simplify (- 0) into 0
11.574 * [backup-simplify]: Simplify (+ 0 0) into 0
11.575 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
11.576 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.577 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
11.577 * [backup-simplify]: Simplify (+ 0 0) into 0
11.578 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
11.578 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
11.579 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.579 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
11.580 * [backup-simplify]: Simplify (+ 0 0) into 0
11.580 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.581 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.581 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
11.581 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.586 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
11.587 * [backup-simplify]: Simplify (- 0) into 0
11.587 * [backup-simplify]: Simplify (+ 0 0) into 0
11.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.589 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
11.590 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
11.590 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
11.590 * [backup-simplify]: Simplify (+ (/ 2 (* phi2 phi1)) 0) into (* 2 (/ 1 (* phi2 phi1)))
11.591 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 (* phi2 phi1)))) into (* 2 (/ 1 (* phi2 phi1)))
11.591 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1))))
11.591 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (* 2 (/ 1 (* phi2 phi1))))
11.595 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
11.595 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2
11.595 * [taylor]: Taking taylor expansion of 1/2 in phi2
11.595 * [backup-simplify]: Simplify 1/2 into 1/2
11.595 * [taylor]: Taking taylor expansion of (* (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2
11.595 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) in phi2
11.595 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) in phi2
11.595 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
11.595 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
11.596 * [taylor]: Taking taylor expansion of phi2 in phi2
11.596 * [backup-simplify]: Simplify 0 into 0
11.596 * [backup-simplify]: Simplify 1 into 1
11.596 * [backup-simplify]: Simplify (* 1 1) into 1
11.596 * [backup-simplify]: Simplify (/ 1 1) into 1
11.596 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) in phi2
11.596 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
11.596 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
11.596 * [taylor]: Taking taylor expansion of phi1 in phi2
11.596 * [backup-simplify]: Simplify phi1 into phi1
11.596 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
11.596 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
11.596 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
11.596 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
11.597 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.597 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.597 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.597 * [backup-simplify]: Simplify 0.5 into 0.5
11.597 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.597 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.597 * [taylor]: Taking taylor expansion of phi1 in phi2
11.597 * [backup-simplify]: Simplify phi1 into phi1
11.597 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.597 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.597 * [taylor]: Taking taylor expansion of phi2 in phi2
11.597 * [backup-simplify]: Simplify 0 into 0
11.597 * [backup-simplify]: Simplify 1 into 1
11.597 * [backup-simplify]: Simplify (/ 1 1) into 1
11.597 * [backup-simplify]: Simplify (+ 0 1) into 1
11.598 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.598 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.598 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
11.598 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.598 * [backup-simplify]: Simplify lambda1 into lambda1
11.598 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.598 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.598 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
11.598 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1)))) in phi2
11.598 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
11.598 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2
11.598 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.598 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.598 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.598 * [backup-simplify]: Simplify 0.5 into 0.5
11.598 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.599 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.599 * [taylor]: Taking taylor expansion of phi1 in phi2
11.599 * [backup-simplify]: Simplify phi1 into phi1
11.599 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.599 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.599 * [taylor]: Taking taylor expansion of phi2 in phi2
11.599 * [backup-simplify]: Simplify 0 into 0
11.599 * [backup-simplify]: Simplify 1 into 1
11.599 * [backup-simplify]: Simplify (/ 1 1) into 1
11.599 * [backup-simplify]: Simplify (+ 0 1) into 1
11.599 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.600 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.600 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
11.600 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
11.600 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.600 * [backup-simplify]: Simplify lambda1 into lambda1
11.600 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.600 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.600 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.600 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.600 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.600 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.600 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.600 * [backup-simplify]: Simplify 0.5 into 0.5
11.600 * [taylor]: Taking taylor expansion of phi1 in phi2
11.600 * [backup-simplify]: Simplify phi1 into phi1
11.600 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.600 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.600 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.600 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.600 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.600 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.600 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.600 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.600 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.600 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.600 * [backup-simplify]: Simplify 0.5 into 0.5
11.600 * [taylor]: Taking taylor expansion of phi2 in phi2
11.600 * [backup-simplify]: Simplify 0 into 0
11.600 * [backup-simplify]: Simplify 1 into 1
11.601 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.601 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.601 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.601 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.601 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.601 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.601 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.601 * [backup-simplify]: Simplify 0.5 into 0.5
11.601 * [taylor]: Taking taylor expansion of phi1 in phi2
11.601 * [backup-simplify]: Simplify phi1 into phi1
11.601 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.601 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.601 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.601 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.601 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.601 * [backup-simplify]: Simplify (- 0) into 0
11.602 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.602 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.602 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.602 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.602 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.602 * [backup-simplify]: Simplify 0.5 into 0.5
11.602 * [taylor]: Taking taylor expansion of phi2 in phi2
11.602 * [backup-simplify]: Simplify 0 into 0
11.602 * [backup-simplify]: Simplify 1 into 1
11.602 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.602 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.602 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.602 * [taylor]: Taking taylor expansion of 2 in phi2
11.602 * [backup-simplify]: Simplify 2 into 2
11.602 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.602 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.602 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.602 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.602 * [backup-simplify]: Simplify 0.5 into 0.5
11.602 * [taylor]: Taking taylor expansion of phi1 in phi2
11.602 * [backup-simplify]: Simplify phi1 into phi1
11.602 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.602 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.602 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.602 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.602 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.602 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.602 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.602 * [backup-simplify]: Simplify 0.5 into 0.5
11.603 * [taylor]: Taking taylor expansion of phi1 in phi2
11.603 * [backup-simplify]: Simplify phi1 into phi1
11.603 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.603 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.603 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.603 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.603 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.603 * [backup-simplify]: Simplify 0.5 into 0.5
11.603 * [taylor]: Taking taylor expansion of phi2 in phi2
11.603 * [backup-simplify]: Simplify 0 into 0
11.603 * [backup-simplify]: Simplify 1 into 1
11.603 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.603 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.603 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.603 * [backup-simplify]: Simplify 0.5 into 0.5
11.603 * [taylor]: Taking taylor expansion of phi2 in phi2
11.603 * [backup-simplify]: Simplify 0 into 0
11.603 * [backup-simplify]: Simplify 1 into 1
11.604 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.604 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.604 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.604 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
11.604 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.605 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.605 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.605 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.605 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.606 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.606 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.606 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.607 * [backup-simplify]: Simplify (- 0) into 0
11.607 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.607 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.607 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.607 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.607 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.607 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.607 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.607 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.608 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.609 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.609 * [backup-simplify]: Simplify (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.611 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2)))
11.611 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
11.611 * [taylor]: Taking taylor expansion of 2 in phi2
11.611 * [backup-simplify]: Simplify 2 into 2
11.611 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
11.611 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
11.611 * [taylor]: Taking taylor expansion of phi2 in phi2
11.611 * [backup-simplify]: Simplify 0 into 0
11.611 * [backup-simplify]: Simplify 1 into 1
11.611 * [taylor]: Taking taylor expansion of phi1 in phi2
11.611 * [backup-simplify]: Simplify phi1 into phi1
11.611 * [backup-simplify]: Simplify (* 0 phi1) into 0
11.612 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
11.612 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.612 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
11.612 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
11.612 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.612 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.612 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.612 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.612 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.612 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.612 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.612 * [backup-simplify]: Simplify 0.5 into 0.5
11.612 * [taylor]: Taking taylor expansion of phi1 in phi2
11.612 * [backup-simplify]: Simplify phi1 into phi1
11.612 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.612 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.613 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.613 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.613 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.613 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.613 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.613 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.613 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.613 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.613 * [backup-simplify]: Simplify 0.5 into 0.5
11.613 * [taylor]: Taking taylor expansion of phi2 in phi2
11.613 * [backup-simplify]: Simplify 0 into 0
11.613 * [backup-simplify]: Simplify 1 into 1
11.614 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.614 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.614 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.614 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.614 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.614 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.614 * [backup-simplify]: Simplify 0.5 into 0.5
11.614 * [taylor]: Taking taylor expansion of phi1 in phi2
11.614 * [backup-simplify]: Simplify phi1 into phi1
11.614 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.614 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.614 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.615 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.615 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.615 * [backup-simplify]: Simplify (- 0) into 0
11.615 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.615 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.615 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.615 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.615 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.615 * [backup-simplify]: Simplify 0.5 into 0.5
11.615 * [taylor]: Taking taylor expansion of phi2 in phi2
11.616 * [backup-simplify]: Simplify 0 into 0
11.616 * [backup-simplify]: Simplify 1 into 1
11.616 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.616 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.616 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.616 * [taylor]: Taking taylor expansion of 2 in phi2
11.616 * [backup-simplify]: Simplify 2 into 2
11.616 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.616 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.616 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.616 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.616 * [backup-simplify]: Simplify 0.5 into 0.5
11.616 * [taylor]: Taking taylor expansion of phi1 in phi2
11.616 * [backup-simplify]: Simplify phi1 into phi1
11.616 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.616 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.617 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.617 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.617 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.617 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.617 * [backup-simplify]: Simplify 0.5 into 0.5
11.617 * [taylor]: Taking taylor expansion of phi1 in phi2
11.617 * [backup-simplify]: Simplify phi1 into phi1
11.617 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.617 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.617 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.617 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.617 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.617 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.617 * [backup-simplify]: Simplify 0.5 into 0.5
11.617 * [taylor]: Taking taylor expansion of phi2 in phi2
11.617 * [backup-simplify]: Simplify 0 into 0
11.617 * [backup-simplify]: Simplify 1 into 1
11.617 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.617 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.617 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.617 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.617 * [backup-simplify]: Simplify 0.5 into 0.5
11.617 * [taylor]: Taking taylor expansion of phi2 in phi2
11.617 * [backup-simplify]: Simplify 0 into 0
11.617 * [backup-simplify]: Simplify 1 into 1
11.618 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.618 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.618 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.618 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.619 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.619 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.619 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.619 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.620 * [backup-simplify]: Simplify (- 0) into 0
11.620 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.620 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.620 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.621 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.622 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.622 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.623 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.623 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.624 * [backup-simplify]: Simplify (+ 0) into 0
11.624 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.624 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.625 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.625 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.626 * [backup-simplify]: Simplify (+ 0 0) into 0
11.626 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.626 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.626 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.627 * [backup-simplify]: Simplify (+ 0) into 0
11.627 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.627 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.627 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.628 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.628 * [backup-simplify]: Simplify (- 0) into 0
11.628 * [backup-simplify]: Simplify (+ 0 0) into 0
11.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.629 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.629 * [backup-simplify]: Simplify (+ 0 0) into 0
11.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.629 * [backup-simplify]: Simplify (+ 0) into 0
11.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.630 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.630 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.631 * [backup-simplify]: Simplify (+ 0 0) into 0
11.631 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.631 * [backup-simplify]: Simplify (+ 0) into 0
11.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.632 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.632 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.633 * [backup-simplify]: Simplify (- 0) into 0
11.633 * [backup-simplify]: Simplify (+ 0 0) into 0
11.633 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.633 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.634 * [backup-simplify]: Simplify (- 0) into 0
11.634 * [backup-simplify]: Simplify (+ 0 0) into 0
11.636 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.637 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.637 * [backup-simplify]: Simplify (+ 1 0) into 1
11.637 * [backup-simplify]: Simplify (+ 1 0) into 1
11.638 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
11.638 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
11.638 * [backup-simplify]: Simplify (+ 0 0) into 0
11.639 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
11.639 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1))
11.639 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
11.639 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
11.640 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 phi1))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1))))
11.641 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.643 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
11.643 * [taylor]: Taking taylor expansion of (- (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
11.643 * [taylor]: Taking taylor expansion of (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
11.643 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
11.643 * [taylor]: Taking taylor expansion of phi1 in phi1
11.643 * [backup-simplify]: Simplify 0 into 0
11.643 * [backup-simplify]: Simplify 1 into 1
11.643 * [backup-simplify]: Simplify (/ 1 1) into 1
11.643 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
11.643 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
11.643 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
11.643 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
11.644 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
11.644 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
11.644 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
11.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.644 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.644 * [backup-simplify]: Simplify 0.5 into 0.5
11.644 * [taylor]: Taking taylor expansion of phi1 in phi1
11.644 * [backup-simplify]: Simplify 0 into 0
11.644 * [backup-simplify]: Simplify 1 into 1
11.644 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.644 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
11.644 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
11.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.644 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.644 * [backup-simplify]: Simplify 0.5 into 0.5
11.644 * [taylor]: Taking taylor expansion of phi2 in phi1
11.644 * [backup-simplify]: Simplify phi2 into phi2
11.644 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.644 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.644 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.644 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.645 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
11.645 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
11.645 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
11.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.645 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.645 * [backup-simplify]: Simplify 0.5 into 0.5
11.645 * [taylor]: Taking taylor expansion of phi1 in phi1
11.645 * [backup-simplify]: Simplify 0 into 0
11.645 * [backup-simplify]: Simplify 1 into 1
11.645 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.645 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
11.645 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
11.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.645 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.645 * [backup-simplify]: Simplify 0.5 into 0.5
11.645 * [taylor]: Taking taylor expansion of phi2 in phi1
11.645 * [backup-simplify]: Simplify phi2 into phi2
11.645 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.645 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.646 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.646 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.646 * [backup-simplify]: Simplify (- 0) into 0
11.646 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.646 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
11.646 * [taylor]: Taking taylor expansion of 2 in phi1
11.646 * [backup-simplify]: Simplify 2 into 2
11.646 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
11.646 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
11.646 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.646 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.646 * [backup-simplify]: Simplify 0.5 into 0.5
11.646 * [taylor]: Taking taylor expansion of phi1 in phi1
11.646 * [backup-simplify]: Simplify 0 into 0
11.646 * [backup-simplify]: Simplify 1 into 1
11.646 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.646 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.647 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
11.647 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
11.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.647 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.647 * [backup-simplify]: Simplify 0.5 into 0.5
11.647 * [taylor]: Taking taylor expansion of phi1 in phi1
11.647 * [backup-simplify]: Simplify 0 into 0
11.647 * [backup-simplify]: Simplify 1 into 1
11.647 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.647 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
11.647 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
11.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.647 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.647 * [backup-simplify]: Simplify 0.5 into 0.5
11.647 * [taylor]: Taking taylor expansion of phi2 in phi1
11.647 * [backup-simplify]: Simplify phi2 into phi2
11.647 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.647 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.647 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
11.647 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.647 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.647 * [backup-simplify]: Simplify 0.5 into 0.5
11.647 * [taylor]: Taking taylor expansion of phi2 in phi1
11.647 * [backup-simplify]: Simplify phi2 into phi2
11.647 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.647 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.647 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.648 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.648 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.648 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.648 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.649 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.649 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.649 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.650 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.650 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.650 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.650 * [backup-simplify]: Simplify (- 0) into 0
11.650 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.651 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.651 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.652 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.652 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.654 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.655 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.657 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.658 * [backup-simplify]: Simplify (+ 0) into 0
11.658 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.658 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.659 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.660 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.660 * [backup-simplify]: Simplify (+ 0 0) into 0
11.660 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.661 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.661 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.661 * [backup-simplify]: Simplify (+ 0) into 0
11.662 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.662 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.663 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.664 * [backup-simplify]: Simplify (- 0) into 0
11.664 * [backup-simplify]: Simplify (+ 0 0) into 0
11.664 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.665 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.665 * [backup-simplify]: Simplify (+ 0 0) into 0
11.666 * [backup-simplify]: Simplify (+ 0) into 0
11.666 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.667 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.667 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.668 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.668 * [backup-simplify]: Simplify (- 0) into 0
11.669 * [backup-simplify]: Simplify (+ 0 0) into 0
11.669 * [backup-simplify]: Simplify (+ 0) into 0
11.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.670 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.671 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.671 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.672 * [backup-simplify]: Simplify (+ 0 0) into 0
11.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.672 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.673 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.673 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.674 * [backup-simplify]: Simplify (- 0) into 0
11.674 * [backup-simplify]: Simplify (+ 0 0) into 0
11.678 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.680 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.681 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.683 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
11.683 * [taylor]: Taking taylor expansion of (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda1
11.683 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1
11.683 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
11.683 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
11.683 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
11.683 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
11.684 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
11.684 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
11.684 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.684 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.684 * [backup-simplify]: Simplify 0.5 into 0.5
11.684 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.684 * [backup-simplify]: Simplify phi1 into phi1
11.684 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.684 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.684 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.684 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.684 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.684 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.684 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
11.684 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
11.684 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.685 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.685 * [backup-simplify]: Simplify 0.5 into 0.5
11.685 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.685 * [backup-simplify]: Simplify phi2 into phi2
11.685 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.685 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.685 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.685 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.685 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
11.685 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
11.685 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
11.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.685 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.685 * [backup-simplify]: Simplify 0.5 into 0.5
11.685 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.686 * [backup-simplify]: Simplify phi1 into phi1
11.686 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.686 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.686 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.687 * [backup-simplify]: Simplify (- 0) into 0
11.687 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.687 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
11.687 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
11.687 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.687 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.687 * [backup-simplify]: Simplify 0.5 into 0.5
11.687 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.687 * [backup-simplify]: Simplify phi2 into phi2
11.687 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.687 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.687 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.688 * [backup-simplify]: Simplify (- 0) into 0
11.688 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.688 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
11.688 * [taylor]: Taking taylor expansion of 2 in lambda1
11.688 * [backup-simplify]: Simplify 2 into 2
11.688 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
11.688 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
11.688 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.688 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.688 * [backup-simplify]: Simplify 0.5 into 0.5
11.688 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.688 * [backup-simplify]: Simplify phi1 into phi1
11.688 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.689 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.689 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.689 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
11.689 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
11.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.689 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.689 * [backup-simplify]: Simplify 0.5 into 0.5
11.689 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.689 * [backup-simplify]: Simplify phi1 into phi1
11.689 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.689 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.689 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.689 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
11.689 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
11.689 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.689 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.689 * [backup-simplify]: Simplify 0.5 into 0.5
11.689 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.689 * [backup-simplify]: Simplify phi2 into phi2
11.690 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.690 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.690 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.690 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
11.690 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.690 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.690 * [backup-simplify]: Simplify 0.5 into 0.5
11.690 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.690 * [backup-simplify]: Simplify phi2 into phi2
11.690 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.690 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.690 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.690 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.691 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.691 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.691 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.692 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.693 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.693 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.693 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.693 * [backup-simplify]: Simplify (- 0) into 0
11.694 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.694 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.694 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.694 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.694 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.694 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.695 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.695 * [backup-simplify]: Simplify (- 0) into 0
11.695 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.696 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.696 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.697 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.697 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.699 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.701 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.703 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.703 * [backup-simplify]: Simplify (+ 0) into 0
11.704 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.704 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.705 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.706 * [backup-simplify]: Simplify (+ 0 0) into 0
11.706 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.706 * [backup-simplify]: Simplify (+ 0) into 0
11.707 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.708 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.709 * [backup-simplify]: Simplify (+ 0 0) into 0
11.709 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.709 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.710 * [backup-simplify]: Simplify (+ 0) into 0
11.710 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.710 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.712 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.712 * [backup-simplify]: Simplify (- 0) into 0
11.712 * [backup-simplify]: Simplify (+ 0 0) into 0
11.713 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.713 * [backup-simplify]: Simplify (+ 0) into 0
11.713 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.713 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.714 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.714 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.714 * [backup-simplify]: Simplify (- 0) into 0
11.715 * [backup-simplify]: Simplify (+ 0 0) into 0
11.715 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.715 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.715 * [backup-simplify]: Simplify (+ 0 0) into 0
11.715 * [backup-simplify]: Simplify (+ 0) into 0
11.716 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.716 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.717 * [backup-simplify]: Simplify (- 0) into 0
11.717 * [backup-simplify]: Simplify (+ 0 0) into 0
11.717 * [backup-simplify]: Simplify (+ 0) into 0
11.718 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.718 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.718 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.719 * [backup-simplify]: Simplify (+ 0 0) into 0
11.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.719 * [backup-simplify]: Simplify (+ 0) into 0
11.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.721 * [backup-simplify]: Simplify (+ 0 0) into 0
11.721 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.721 * [backup-simplify]: Simplify (+ 0) into 0
11.721 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.721 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.722 * [backup-simplify]: Simplify (- 0) into 0
11.723 * [backup-simplify]: Simplify (+ 0 0) into 0
11.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.723 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.724 * [backup-simplify]: Simplify (- 0) into 0
11.724 * [backup-simplify]: Simplify (+ 0 0) into 0
11.726 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.727 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.728 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
11.729 * [backup-simplify]: Simplify (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
11.729 * [taylor]: Taking taylor expansion of (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
11.729 * [taylor]: Taking taylor expansion of -1 in phi1
11.729 * [backup-simplify]: Simplify -1 into -1
11.729 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
11.729 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1
11.729 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
11.729 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
11.729 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
11.729 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.729 * [backup-simplify]: Simplify 0.5 into 0.5
11.729 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
11.729 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
11.729 * [taylor]: Taking taylor expansion of phi1 in phi1
11.729 * [backup-simplify]: Simplify 0 into 0
11.729 * [backup-simplify]: Simplify 1 into 1
11.733 * [backup-simplify]: Simplify (/ 1 1) into 1
11.734 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
11.734 * [taylor]: Taking taylor expansion of phi2 in phi1
11.734 * [backup-simplify]: Simplify phi2 into phi2
11.734 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
11.734 * [backup-simplify]: Simplify (+ 1 0) into 1
11.735 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.735 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.735 * [taylor]: Taking taylor expansion of lambda1 in phi1
11.735 * [backup-simplify]: Simplify lambda1 into lambda1
11.735 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.735 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
11.735 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
11.735 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
11.735 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
11.735 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
11.735 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
11.735 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
11.735 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
11.735 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.735 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.735 * [backup-simplify]: Simplify 0.5 into 0.5
11.735 * [taylor]: Taking taylor expansion of phi1 in phi1
11.735 * [backup-simplify]: Simplify 0 into 0
11.735 * [backup-simplify]: Simplify 1 into 1
11.736 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.736 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.736 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
11.736 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
11.736 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.736 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.736 * [backup-simplify]: Simplify 0.5 into 0.5
11.736 * [taylor]: Taking taylor expansion of phi2 in phi1
11.736 * [backup-simplify]: Simplify phi2 into phi2
11.736 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.736 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.736 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.736 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.736 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.736 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.736 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
11.736 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
11.736 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
11.736 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.736 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.736 * [backup-simplify]: Simplify 0.5 into 0.5
11.736 * [taylor]: Taking taylor expansion of phi1 in phi1
11.736 * [backup-simplify]: Simplify 0 into 0
11.736 * [backup-simplify]: Simplify 1 into 1
11.737 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.737 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.737 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
11.737 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
11.737 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.737 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.737 * [backup-simplify]: Simplify 0.5 into 0.5
11.737 * [taylor]: Taking taylor expansion of phi2 in phi1
11.737 * [backup-simplify]: Simplify phi2 into phi2
11.737 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.737 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.737 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.737 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.737 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.738 * [backup-simplify]: Simplify (- 0) into 0
11.738 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.738 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
11.738 * [taylor]: Taking taylor expansion of 2 in phi1
11.738 * [backup-simplify]: Simplify 2 into 2
11.738 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
11.738 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
11.738 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.738 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.738 * [backup-simplify]: Simplify 0.5 into 0.5
11.738 * [taylor]: Taking taylor expansion of phi1 in phi1
11.738 * [backup-simplify]: Simplify 0 into 0
11.738 * [backup-simplify]: Simplify 1 into 1
11.738 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.738 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.738 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
11.738 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
11.738 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
11.738 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.738 * [backup-simplify]: Simplify 0.5 into 0.5
11.738 * [taylor]: Taking taylor expansion of phi1 in phi1
11.738 * [backup-simplify]: Simplify 0 into 0
11.738 * [backup-simplify]: Simplify 1 into 1
11.739 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.739 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.739 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
11.739 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
11.739 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.739 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.739 * [backup-simplify]: Simplify 0.5 into 0.5
11.739 * [taylor]: Taking taylor expansion of phi2 in phi1
11.739 * [backup-simplify]: Simplify phi2 into phi2
11.739 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.739 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.739 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.739 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
11.739 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
11.739 * [taylor]: Taking taylor expansion of 0.5 in phi1
11.739 * [backup-simplify]: Simplify 0.5 into 0.5
11.739 * [taylor]: Taking taylor expansion of phi2 in phi1
11.739 * [backup-simplify]: Simplify phi2 into phi2
11.739 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.739 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.739 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.739 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.739 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.740 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.740 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.740 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.740 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.741 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.741 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.741 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.741 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.741 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.741 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.741 * [backup-simplify]: Simplify (- 0) into 0
11.741 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.741 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.742 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.742 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.742 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.742 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.743 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.744 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.745 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.746 * [backup-simplify]: Simplify (+ 0) into 0
11.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.747 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.748 * [backup-simplify]: Simplify (+ 0 0) into 0
11.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.749 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.750 * [backup-simplify]: Simplify (+ 0) into 0
11.750 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.750 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.751 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.752 * [backup-simplify]: Simplify (- 0) into 0
11.752 * [backup-simplify]: Simplify (+ 0 0) into 0
11.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.753 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.754 * [backup-simplify]: Simplify (+ 0 0) into 0
11.754 * [backup-simplify]: Simplify (+ 0) into 0
11.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.755 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.756 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.757 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.757 * [backup-simplify]: Simplify (- 0) into 0
11.757 * [backup-simplify]: Simplify (+ 0 0) into 0
11.758 * [backup-simplify]: Simplify (+ 0) into 0
11.758 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.759 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.760 * [backup-simplify]: Simplify (+ 0 0) into 0
11.761 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.761 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.761 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.762 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.762 * [backup-simplify]: Simplify (- 0) into 0
11.763 * [backup-simplify]: Simplify (+ 0 0) into 0
11.766 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.768 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
11.768 * [taylor]: Taking taylor expansion of 0 in phi1
11.768 * [backup-simplify]: Simplify 0 into 0
11.768 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
11.768 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
11.768 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
11.768 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
11.768 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
11.768 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
11.768 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.768 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.768 * [backup-simplify]: Simplify 0.5 into 0.5
11.768 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.768 * [backup-simplify]: Simplify phi1 into phi1
11.769 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.769 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.769 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.769 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.769 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
11.769 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
11.769 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.769 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.769 * [backup-simplify]: Simplify 0.5 into 0.5
11.769 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.769 * [backup-simplify]: Simplify phi2 into phi2
11.769 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.769 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.770 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.770 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.770 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.770 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
11.770 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
11.770 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
11.770 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.770 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.770 * [backup-simplify]: Simplify 0.5 into 0.5
11.770 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.770 * [backup-simplify]: Simplify phi1 into phi1
11.770 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.770 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.770 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.770 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.771 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.771 * [backup-simplify]: Simplify (- 0) into 0
11.771 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.771 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
11.771 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
11.771 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.771 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.771 * [backup-simplify]: Simplify 0.5 into 0.5
11.771 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.772 * [backup-simplify]: Simplify phi2 into phi2
11.772 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.772 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.772 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.772 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.772 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.772 * [backup-simplify]: Simplify (- 0) into 0
11.773 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.773 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
11.773 * [taylor]: Taking taylor expansion of 2 in lambda1
11.773 * [backup-simplify]: Simplify 2 into 2
11.773 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
11.773 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
11.773 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.773 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.773 * [backup-simplify]: Simplify 0.5 into 0.5
11.773 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.773 * [backup-simplify]: Simplify phi1 into phi1
11.773 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.773 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.773 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.773 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
11.773 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
11.773 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
11.773 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.773 * [backup-simplify]: Simplify 0.5 into 0.5
11.773 * [taylor]: Taking taylor expansion of phi1 in lambda1
11.773 * [backup-simplify]: Simplify phi1 into phi1
11.773 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.774 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.774 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.774 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
11.774 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
11.774 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.774 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.774 * [backup-simplify]: Simplify 0.5 into 0.5
11.774 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.774 * [backup-simplify]: Simplify phi2 into phi2
11.774 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.774 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.774 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.774 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
11.774 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
11.774 * [taylor]: Taking taylor expansion of 0.5 in lambda1
11.774 * [backup-simplify]: Simplify 0.5 into 0.5
11.774 * [taylor]: Taking taylor expansion of phi2 in lambda1
11.774 * [backup-simplify]: Simplify phi2 into phi2
11.774 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
11.774 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.775 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.775 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.775 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.775 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.776 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.776 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.777 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.777 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.777 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.778 * [backup-simplify]: Simplify (- 0) into 0
11.778 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.778 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.778 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.778 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.778 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
11.778 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
11.778 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
11.779 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
11.779 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
11.779 * [backup-simplify]: Simplify (- 0) into 0
11.779 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
11.779 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.780 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.780 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.780 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.781 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.782 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.784 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.785 * [backup-simplify]: Simplify (+ 0) into 0
11.785 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.785 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.787 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.787 * [backup-simplify]: Simplify (+ 0 0) into 0
11.787 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.788 * [backup-simplify]: Simplify (+ 0) into 0
11.788 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.788 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.789 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.789 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.789 * [backup-simplify]: Simplify (+ 0 0) into 0
11.790 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.790 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.790 * [backup-simplify]: Simplify (+ 0) into 0
11.790 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.791 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.791 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.791 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.792 * [backup-simplify]: Simplify (- 0) into 0
11.792 * [backup-simplify]: Simplify (+ 0 0) into 0
11.792 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.792 * [backup-simplify]: Simplify (+ 0) into 0
11.793 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.793 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.793 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.794 * [backup-simplify]: Simplify (- 0) into 0
11.794 * [backup-simplify]: Simplify (+ 0 0) into 0
11.794 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.794 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.794 * [backup-simplify]: Simplify (+ 0 0) into 0
11.795 * [backup-simplify]: Simplify (+ 0) into 0
11.795 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.795 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.796 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.797 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.797 * [backup-simplify]: Simplify (- 0) into 0
11.797 * [backup-simplify]: Simplify (+ 0 0) into 0
11.797 * [backup-simplify]: Simplify (+ 0) into 0
11.798 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
11.798 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
11.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.798 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
11.799 * [backup-simplify]: Simplify (+ 0 0) into 0
11.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.799 * [backup-simplify]: Simplify (+ 0) into 0
11.799 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.800 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.800 * [backup-simplify]: Simplify (+ 0 0) into 0
11.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.801 * [backup-simplify]: Simplify (+ 0) into 0
11.801 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.801 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.802 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.802 * [backup-simplify]: Simplify (- 0) into 0
11.803 * [backup-simplify]: Simplify (+ 0 0) into 0
11.803 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.803 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.803 * [backup-simplify]: Simplify (- 0) into 0
11.804 * [backup-simplify]: Simplify (+ 0 0) into 0
11.805 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
11.805 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
11.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.806 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.807 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
11.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
11.808 * [backup-simplify]: Simplify (+ 0 0) into 0
11.808 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0
11.809 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
11.809 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.810 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.811 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
11.811 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
11.811 * [backup-simplify]: Simplify (+ 0 0) into 0
11.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
11.813 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))))) into 0
11.813 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.814 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
11.815 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
11.815 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0
11.815 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
11.815 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0
11.816 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
11.816 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.816 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.817 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
11.818 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
11.818 * [backup-simplify]: Simplify (- 0) into 0
11.818 * [backup-simplify]: Simplify (+ 0 0) into 0
11.819 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0
11.819 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
11.820 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.821 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
11.821 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
11.821 * [backup-simplify]: Simplify (- 0) into 0
11.822 * [backup-simplify]: Simplify (+ 0 0) into 0
11.822 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1)))))) into 0
11.823 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))))) into 0
11.824 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.825 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
11.825 * [backup-simplify]: Simplify (+ 0) into 0
11.826 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
11.826 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
11.826 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
11.826 * [backup-simplify]: Simplify (+ 0 0) into 0
11.826 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
11.827 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.827 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
11.827 * [backup-simplify]: Simplify (- 0) into 0
11.828 * [backup-simplify]: Simplify (+ 0 0) into 0
11.828 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
11.828 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
11.828 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
11.829 * [backup-simplify]: Simplify (+ 0 0) into 0
11.829 * [backup-simplify]: Simplify (+ 0 0) into 0
11.829 * [backup-simplify]: Simplify (+ 0 0) into 0
11.829 * [backup-simplify]: Simplify (+ 0 0) into 0
11.830 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
11.830 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
11.831 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.831 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.831 * [backup-simplify]: Simplify (+ 0 0) into 0
11.832 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
11.832 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
11.832 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
11.833 * [backup-simplify]: Simplify (- 0) into 0
11.833 * [backup-simplify]: Simplify (+ 0 0) into 0
11.834 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
11.835 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0
11.836 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0
11.837 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0
11.837 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
11.837 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0
11.838 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0
11.839 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
11.840 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.840 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.842 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
11.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
11.843 * [backup-simplify]: Simplify (- 0) into 0
11.844 * [backup-simplify]: Simplify (+ 0 0) into 0
11.845 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
11.846 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.846 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
11.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
11.849 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
11.849 * [backup-simplify]: Simplify (+ 0 0) into 0
11.850 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0
11.851 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
11.852 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.852 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
11.855 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
11.855 * [backup-simplify]: Simplify (+ 0 0) into 0
11.857 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.858 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
11.859 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.860 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
11.861 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
11.862 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
11.863 * [backup-simplify]: Simplify (- 0) into 0
11.869 * [backup-simplify]: Simplify (+ 0 0) into 0
11.871 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
11.872 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
11.874 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
11.876 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0
11.876 * [backup-simplify]: Simplify (+ 0 0) into 0
11.876 * [backup-simplify]: Simplify (+ 0 0) into 0
11.877 * [backup-simplify]: Simplify (- 0) into 0
11.877 * [backup-simplify]: Simplify (+ 0 0) into 0
11.888 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* 1/2 (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
11.889 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2
11.889 * [taylor]: Taking taylor expansion of 1/2 in phi2
11.889 * [backup-simplify]: Simplify 1/2 into 1/2
11.889 * [taylor]: Taking taylor expansion of (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2
11.889 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) in phi2
11.889 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi2
11.889 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) in phi2
11.889 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2
11.889 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.890 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.890 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.890 * [backup-simplify]: Simplify 0.5 into 0.5
11.890 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.890 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.890 * [taylor]: Taking taylor expansion of phi1 in phi2
11.890 * [backup-simplify]: Simplify phi1 into phi1
11.890 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.890 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.890 * [taylor]: Taking taylor expansion of phi2 in phi2
11.890 * [backup-simplify]: Simplify 0 into 0
11.890 * [backup-simplify]: Simplify 1 into 1
11.890 * [backup-simplify]: Simplify (/ 1 1) into 1
11.891 * [backup-simplify]: Simplify (+ 0 1) into 1
11.891 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.892 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.892 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)) in phi2
11.892 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.892 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.892 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.892 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.892 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.892 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.892 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.892 * [backup-simplify]: Simplify 0.5 into 0.5
11.892 * [taylor]: Taking taylor expansion of phi1 in phi2
11.892 * [backup-simplify]: Simplify phi1 into phi1
11.892 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.892 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.892 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.892 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.892 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.892 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.893 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.893 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.893 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.893 * [backup-simplify]: Simplify 0.5 into 0.5
11.893 * [taylor]: Taking taylor expansion of phi2 in phi2
11.893 * [backup-simplify]: Simplify 0 into 0
11.893 * [backup-simplify]: Simplify 1 into 1
11.893 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.893 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.893 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.893 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.893 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.893 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.893 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.893 * [backup-simplify]: Simplify 0.5 into 0.5
11.893 * [taylor]: Taking taylor expansion of phi1 in phi2
11.893 * [backup-simplify]: Simplify phi1 into phi1
11.893 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.893 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.893 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.893 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.893 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.894 * [backup-simplify]: Simplify (- 0) into 0
11.894 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.894 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.894 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.894 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.894 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.894 * [backup-simplify]: Simplify 0.5 into 0.5
11.894 * [taylor]: Taking taylor expansion of phi2 in phi2
11.894 * [backup-simplify]: Simplify 0 into 0
11.894 * [backup-simplify]: Simplify 1 into 1
11.894 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.894 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.894 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.894 * [taylor]: Taking taylor expansion of 2 in phi2
11.894 * [backup-simplify]: Simplify 2 into 2
11.894 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.894 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.894 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.894 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.894 * [backup-simplify]: Simplify 0.5 into 0.5
11.895 * [taylor]: Taking taylor expansion of phi1 in phi2
11.895 * [backup-simplify]: Simplify phi1 into phi1
11.895 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.895 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.895 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.895 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.895 * [backup-simplify]: Simplify 0.5 into 0.5
11.895 * [taylor]: Taking taylor expansion of phi1 in phi2
11.895 * [backup-simplify]: Simplify phi1 into phi1
11.895 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.895 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.895 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.895 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.895 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.895 * [backup-simplify]: Simplify 0.5 into 0.5
11.895 * [taylor]: Taking taylor expansion of phi2 in phi2
11.895 * [backup-simplify]: Simplify 0 into 0
11.895 * [backup-simplify]: Simplify 1 into 1
11.895 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.895 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.895 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.895 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.896 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.896 * [backup-simplify]: Simplify 0.5 into 0.5
11.896 * [taylor]: Taking taylor expansion of phi2 in phi2
11.896 * [backup-simplify]: Simplify 0 into 0
11.896 * [backup-simplify]: Simplify 1 into 1
11.896 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.896 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.896 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
11.896 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.896 * [backup-simplify]: Simplify lambda1 into lambda1
11.896 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.897 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
11.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.897 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.897 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.897 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.897 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.897 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.898 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.898 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.898 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.898 * [backup-simplify]: Simplify (- 0) into 0
11.898 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.898 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.899 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.899 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.899 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.899 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.899 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.899 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.900 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.900 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.900 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
11.901 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)) into (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.902 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))
11.902 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2
11.902 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2
11.903 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
11.903 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.903 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.903 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.903 * [backup-simplify]: Simplify 0.5 into 0.5
11.903 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.903 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.903 * [taylor]: Taking taylor expansion of phi1 in phi2
11.903 * [backup-simplify]: Simplify phi1 into phi1
11.903 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.903 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.903 * [taylor]: Taking taylor expansion of phi2 in phi2
11.903 * [backup-simplify]: Simplify 0 into 0
11.903 * [backup-simplify]: Simplify 1 into 1
11.903 * [backup-simplify]: Simplify (/ 1 1) into 1
11.903 * [backup-simplify]: Simplify (+ 0 1) into 1
11.904 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.904 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.904 * [taylor]: Taking taylor expansion of (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
11.904 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.904 * [backup-simplify]: Simplify lambda1 into lambda1
11.904 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
11.904 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
11.904 * [taylor]: Taking taylor expansion of phi1 in phi2
11.904 * [backup-simplify]: Simplify phi1 into phi1
11.904 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.904 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.904 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.904 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.904 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.904 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.904 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.904 * [backup-simplify]: Simplify 0.5 into 0.5
11.904 * [taylor]: Taking taylor expansion of phi1 in phi2
11.904 * [backup-simplify]: Simplify phi1 into phi1
11.904 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.904 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.904 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.904 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.904 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.905 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.905 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.905 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.905 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.905 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.905 * [backup-simplify]: Simplify 0.5 into 0.5
11.905 * [taylor]: Taking taylor expansion of phi2 in phi2
11.905 * [backup-simplify]: Simplify 0 into 0
11.905 * [backup-simplify]: Simplify 1 into 1
11.905 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.905 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.905 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.905 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.905 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.905 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.905 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.905 * [backup-simplify]: Simplify 0.5 into 0.5
11.905 * [taylor]: Taking taylor expansion of phi1 in phi2
11.905 * [backup-simplify]: Simplify phi1 into phi1
11.905 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.905 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.905 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.906 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.906 * [backup-simplify]: Simplify (- 0) into 0
11.906 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.906 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.906 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.906 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.906 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.906 * [backup-simplify]: Simplify 0.5 into 0.5
11.906 * [taylor]: Taking taylor expansion of phi2 in phi2
11.906 * [backup-simplify]: Simplify 0 into 0
11.906 * [backup-simplify]: Simplify 1 into 1
11.906 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.906 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.906 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.906 * [taylor]: Taking taylor expansion of 2 in phi2
11.906 * [backup-simplify]: Simplify 2 into 2
11.906 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.906 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.906 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.906 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.907 * [backup-simplify]: Simplify 0.5 into 0.5
11.907 * [taylor]: Taking taylor expansion of phi1 in phi2
11.907 * [backup-simplify]: Simplify phi1 into phi1
11.907 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.907 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.907 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.907 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.907 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.907 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.907 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.907 * [backup-simplify]: Simplify 0.5 into 0.5
11.907 * [taylor]: Taking taylor expansion of phi1 in phi2
11.907 * [backup-simplify]: Simplify phi1 into phi1
11.907 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.907 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.907 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.907 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.907 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.907 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.907 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.907 * [backup-simplify]: Simplify 0.5 into 0.5
11.907 * [taylor]: Taking taylor expansion of phi2 in phi2
11.907 * [backup-simplify]: Simplify 0 into 0
11.907 * [backup-simplify]: Simplify 1 into 1
11.907 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.907 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.908 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.908 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.908 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.908 * [backup-simplify]: Simplify 0.5 into 0.5
11.908 * [taylor]: Taking taylor expansion of phi2 in phi2
11.908 * [backup-simplify]: Simplify 0 into 0
11.908 * [backup-simplify]: Simplify 1 into 1
11.908 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.908 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.908 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.908 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
11.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.909 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.909 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.910 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.910 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.910 * [backup-simplify]: Simplify (- 0) into 0
11.910 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.910 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.910 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.911 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.911 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.912 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.913 * [backup-simplify]: Simplify (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow phi1 2))
11.914 * [backup-simplify]: Simplify (* lambda1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow phi1 2))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 (pow phi1 2)))
11.915 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 (pow phi1 2)))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))
11.915 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2
11.915 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
11.915 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.915 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.915 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.915 * [backup-simplify]: Simplify 0.5 into 0.5
11.915 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.915 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.915 * [taylor]: Taking taylor expansion of phi1 in phi2
11.915 * [backup-simplify]: Simplify phi1 into phi1
11.915 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.915 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.915 * [taylor]: Taking taylor expansion of phi2 in phi2
11.915 * [backup-simplify]: Simplify 0 into 0
11.915 * [backup-simplify]: Simplify 1 into 1
11.916 * [backup-simplify]: Simplify (/ 1 1) into 1
11.916 * [backup-simplify]: Simplify (+ 0 1) into 1
11.916 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.916 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.917 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
11.917 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
11.917 * [taylor]: Taking taylor expansion of phi2 in phi2
11.917 * [backup-simplify]: Simplify 0 into 0
11.917 * [backup-simplify]: Simplify 1 into 1
11.917 * [taylor]: Taking taylor expansion of (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
11.917 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.917 * [backup-simplify]: Simplify lambda1 into lambda1
11.917 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.917 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.917 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.917 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.917 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.917 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.917 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.917 * [backup-simplify]: Simplify 0.5 into 0.5
11.917 * [taylor]: Taking taylor expansion of phi1 in phi2
11.917 * [backup-simplify]: Simplify phi1 into phi1
11.917 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.917 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.917 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.917 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.917 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.917 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.917 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.917 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.917 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.917 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.917 * [backup-simplify]: Simplify 0.5 into 0.5
11.917 * [taylor]: Taking taylor expansion of phi2 in phi2
11.917 * [backup-simplify]: Simplify 0 into 0
11.917 * [backup-simplify]: Simplify 1 into 1
11.918 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.918 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.918 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.918 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.918 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.918 * [backup-simplify]: Simplify 0.5 into 0.5
11.918 * [taylor]: Taking taylor expansion of phi1 in phi2
11.918 * [backup-simplify]: Simplify phi1 into phi1
11.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.918 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.918 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.918 * [backup-simplify]: Simplify (- 0) into 0
11.919 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.919 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.919 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.919 * [backup-simplify]: Simplify 0.5 into 0.5
11.919 * [taylor]: Taking taylor expansion of phi2 in phi2
11.919 * [backup-simplify]: Simplify 0 into 0
11.919 * [backup-simplify]: Simplify 1 into 1
11.919 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.919 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.919 * [taylor]: Taking taylor expansion of 2 in phi2
11.919 * [backup-simplify]: Simplify 2 into 2
11.919 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.919 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.919 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.919 * [backup-simplify]: Simplify 0.5 into 0.5
11.919 * [taylor]: Taking taylor expansion of phi1 in phi2
11.919 * [backup-simplify]: Simplify phi1 into phi1
11.919 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.919 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.919 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.919 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.919 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.920 * [backup-simplify]: Simplify 0.5 into 0.5
11.920 * [taylor]: Taking taylor expansion of phi1 in phi2
11.920 * [backup-simplify]: Simplify phi1 into phi1
11.920 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.920 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.920 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.920 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.920 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.920 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.920 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.920 * [backup-simplify]: Simplify 0.5 into 0.5
11.920 * [taylor]: Taking taylor expansion of phi2 in phi2
11.920 * [backup-simplify]: Simplify 0 into 0
11.920 * [backup-simplify]: Simplify 1 into 1
11.920 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.920 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.920 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.920 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.920 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.920 * [backup-simplify]: Simplify 0.5 into 0.5
11.920 * [taylor]: Taking taylor expansion of phi2 in phi2
11.920 * [backup-simplify]: Simplify 0 into 0
11.920 * [backup-simplify]: Simplify 1 into 1
11.921 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.921 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.921 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.922 * [backup-simplify]: Simplify (* 1 1) into 1
11.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.922 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.922 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.923 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.924 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.925 * [backup-simplify]: Simplify (- 0) into 0
11.925 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.925 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.925 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.925 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.926 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.926 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.927 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.927 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.929 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.930 * [backup-simplify]: Simplify (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.932 * [backup-simplify]: Simplify (* 1 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.934 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))
11.934 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))))) in phi2
11.934 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) in phi2
11.934 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) in phi2
11.934 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.934 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.934 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.934 * [backup-simplify]: Simplify 0.5 into 0.5
11.934 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.934 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.934 * [taylor]: Taking taylor expansion of phi1 in phi2
11.934 * [backup-simplify]: Simplify phi1 into phi1
11.934 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.934 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.934 * [taylor]: Taking taylor expansion of phi2 in phi2
11.934 * [backup-simplify]: Simplify 0 into 0
11.935 * [backup-simplify]: Simplify 1 into 1
11.935 * [backup-simplify]: Simplify (/ 1 1) into 1
11.936 * [backup-simplify]: Simplify (+ 0 1) into 1
11.936 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.936 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.936 * [taylor]: Taking taylor expansion of (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) in phi2
11.936 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
11.936 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.936 * [backup-simplify]: Simplify lambda1 into lambda1
11.936 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) in phi2
11.936 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.936 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.937 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.937 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.937 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.937 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.937 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.937 * [backup-simplify]: Simplify 0.5 into 0.5
11.937 * [taylor]: Taking taylor expansion of phi1 in phi2
11.937 * [backup-simplify]: Simplify phi1 into phi1
11.937 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.937 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.937 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.937 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.937 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.937 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.937 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.937 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.937 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.937 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.937 * [backup-simplify]: Simplify 0.5 into 0.5
11.937 * [taylor]: Taking taylor expansion of phi2 in phi2
11.937 * [backup-simplify]: Simplify 0 into 0
11.937 * [backup-simplify]: Simplify 1 into 1
11.937 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.938 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.938 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.938 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.938 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.938 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.938 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.938 * [backup-simplify]: Simplify 0.5 into 0.5
11.938 * [taylor]: Taking taylor expansion of phi1 in phi2
11.938 * [backup-simplify]: Simplify phi1 into phi1
11.938 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.938 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.938 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.938 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.938 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.938 * [backup-simplify]: Simplify (- 0) into 0
11.938 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.938 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.938 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.938 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.938 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.938 * [backup-simplify]: Simplify 0.5 into 0.5
11.938 * [taylor]: Taking taylor expansion of phi2 in phi2
11.938 * [backup-simplify]: Simplify 0 into 0
11.938 * [backup-simplify]: Simplify 1 into 1
11.939 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.939 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.939 * [taylor]: Taking taylor expansion of 2 in phi2
11.939 * [backup-simplify]: Simplify 2 into 2
11.939 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.939 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.939 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.939 * [backup-simplify]: Simplify 0.5 into 0.5
11.939 * [taylor]: Taking taylor expansion of phi1 in phi2
11.939 * [backup-simplify]: Simplify phi1 into phi1
11.939 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.939 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.939 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.939 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.939 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.939 * [backup-simplify]: Simplify 0.5 into 0.5
11.939 * [taylor]: Taking taylor expansion of phi1 in phi2
11.939 * [backup-simplify]: Simplify phi1 into phi1
11.939 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.939 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.939 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.939 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.939 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.940 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.940 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.940 * [backup-simplify]: Simplify 0.5 into 0.5
11.940 * [taylor]: Taking taylor expansion of phi2 in phi2
11.940 * [backup-simplify]: Simplify 0 into 0
11.940 * [backup-simplify]: Simplify 1 into 1
11.940 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.940 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.940 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.940 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.940 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.940 * [backup-simplify]: Simplify 0.5 into 0.5
11.940 * [taylor]: Taking taylor expansion of phi2 in phi2
11.940 * [backup-simplify]: Simplify 0 into 0
11.940 * [backup-simplify]: Simplify 1 into 1
11.940 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.940 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.941 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.941 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.941 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.941 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.941 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.941 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.942 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.942 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.942 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.942 * [backup-simplify]: Simplify (- 0) into 0
11.942 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.942 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.942 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.943 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.943 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.943 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.943 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.943 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.943 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.944 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.945 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.945 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)
11.945 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6)
11.945 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
11.945 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
11.947 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)
11.948 * [backup-simplify]: Simplify (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))
11.949 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow lambda1 3)))
11.949 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))) in phi2
11.949 * [taylor]: Taking taylor expansion of 2 in phi2
11.949 * [backup-simplify]: Simplify 2 into 2
11.949 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))) in phi2
11.949 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
11.949 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
11.949 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
11.949 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.949 * [backup-simplify]: Simplify 0.5 into 0.5
11.949 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
11.949 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
11.949 * [taylor]: Taking taylor expansion of phi1 in phi2
11.949 * [backup-simplify]: Simplify phi1 into phi1
11.949 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
11.949 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
11.949 * [taylor]: Taking taylor expansion of phi2 in phi2
11.949 * [backup-simplify]: Simplify 0 into 0
11.949 * [backup-simplify]: Simplify 1 into 1
11.950 * [backup-simplify]: Simplify (/ 1 1) into 1
11.950 * [backup-simplify]: Simplify (+ 0 1) into 1
11.950 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
11.950 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
11.950 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))) in phi2
11.951 * [taylor]: Taking taylor expansion of phi2 in phi2
11.951 * [backup-simplify]: Simplify 0 into 0
11.951 * [backup-simplify]: Simplify 1 into 1
11.951 * [taylor]: Taking taylor expansion of (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)) in phi2
11.951 * [taylor]: Taking taylor expansion of phi1 in phi2
11.951 * [backup-simplify]: Simplify phi1 into phi1
11.951 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1) in phi2
11.951 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.951 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.951 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.951 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.951 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.951 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.951 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.951 * [backup-simplify]: Simplify 0.5 into 0.5
11.951 * [taylor]: Taking taylor expansion of phi1 in phi2
11.951 * [backup-simplify]: Simplify phi1 into phi1
11.951 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.951 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.951 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.951 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.951 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.951 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.951 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.951 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.951 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.951 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.951 * [backup-simplify]: Simplify 0.5 into 0.5
11.951 * [taylor]: Taking taylor expansion of phi2 in phi2
11.951 * [backup-simplify]: Simplify 0 into 0
11.951 * [backup-simplify]: Simplify 1 into 1
11.952 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.952 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.952 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.952 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.952 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.952 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.952 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.952 * [backup-simplify]: Simplify 0.5 into 0.5
11.952 * [taylor]: Taking taylor expansion of phi1 in phi2
11.952 * [backup-simplify]: Simplify phi1 into phi1
11.952 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.952 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.952 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.952 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.952 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.952 * [backup-simplify]: Simplify (- 0) into 0
11.952 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.953 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.953 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.953 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.953 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.953 * [backup-simplify]: Simplify 0.5 into 0.5
11.953 * [taylor]: Taking taylor expansion of phi2 in phi2
11.953 * [backup-simplify]: Simplify 0 into 0
11.953 * [backup-simplify]: Simplify 1 into 1
11.953 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.953 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.953 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.953 * [taylor]: Taking taylor expansion of 2 in phi2
11.953 * [backup-simplify]: Simplify 2 into 2
11.953 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.953 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.953 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.953 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.953 * [backup-simplify]: Simplify 0.5 into 0.5
11.953 * [taylor]: Taking taylor expansion of phi1 in phi2
11.953 * [backup-simplify]: Simplify phi1 into phi1
11.953 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.953 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.953 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.953 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.953 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.953 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.953 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.953 * [backup-simplify]: Simplify 0.5 into 0.5
11.953 * [taylor]: Taking taylor expansion of phi1 in phi2
11.953 * [backup-simplify]: Simplify phi1 into phi1
11.954 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.954 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.954 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.954 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.954 * [backup-simplify]: Simplify 0.5 into 0.5
11.954 * [taylor]: Taking taylor expansion of phi2 in phi2
11.954 * [backup-simplify]: Simplify 0 into 0
11.954 * [backup-simplify]: Simplify 1 into 1
11.954 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.954 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.954 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.954 * [backup-simplify]: Simplify 0.5 into 0.5
11.954 * [taylor]: Taking taylor expansion of phi2 in phi2
11.954 * [backup-simplify]: Simplify 0 into 0
11.954 * [backup-simplify]: Simplify 1 into 1
11.955 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.955 * [taylor]: Taking taylor expansion of lambda1 in phi2
11.955 * [backup-simplify]: Simplify lambda1 into lambda1
11.955 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
11.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.955 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.956 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.956 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.957 * [backup-simplify]: Simplify (- 0) into 0
11.957 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.957 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.957 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.957 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.958 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.958 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.959 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.959 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.960 * [backup-simplify]: Simplify (* phi1 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1))
11.962 * [backup-simplify]: Simplify (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1))) into 0
11.962 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.963 * [backup-simplify]: Simplify (+ 0) into 0
11.963 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.963 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.965 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.965 * [backup-simplify]: Simplify (+ 0 0) into 0
11.965 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.966 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.966 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.966 * [backup-simplify]: Simplify (+ 0) into 0
11.967 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.967 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.968 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.969 * [backup-simplify]: Simplify (- 0) into 0
11.969 * [backup-simplify]: Simplify (+ 0 0) into 0
11.970 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.970 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.970 * [backup-simplify]: Simplify (+ 0 0) into 0
11.971 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.971 * [backup-simplify]: Simplify (+ 0) into 0
11.972 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.972 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.973 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.973 * [backup-simplify]: Simplify (+ 0 0) into 0
11.974 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
11.974 * [backup-simplify]: Simplify (+ 0) into 0
11.975 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.975 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.976 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.976 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.977 * [backup-simplify]: Simplify (- 0) into 0
11.977 * [backup-simplify]: Simplify (+ 0 0) into 0
11.977 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
11.978 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
11.979 * [backup-simplify]: Simplify (- 0) into 0
11.979 * [backup-simplify]: Simplify (+ 0 0) into 0
11.981 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 lambda1)) into 0
11.981 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
11.983 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1)))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* phi1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.984 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* phi1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))
11.984 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
11.984 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
11.984 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
11.984 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
11.984 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
11.984 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
11.984 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.984 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.984 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.984 * [backup-simplify]: Simplify 0.5 into 0.5
11.984 * [taylor]: Taking taylor expansion of phi1 in phi2
11.984 * [backup-simplify]: Simplify phi1 into phi1
11.984 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.984 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.985 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.985 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.985 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
11.985 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.985 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.985 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.985 * [backup-simplify]: Simplify 0.5 into 0.5
11.985 * [taylor]: Taking taylor expansion of phi2 in phi2
11.985 * [backup-simplify]: Simplify 0 into 0
11.985 * [backup-simplify]: Simplify 1 into 1
11.985 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.985 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.985 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
11.985 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
11.985 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.985 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.985 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.985 * [backup-simplify]: Simplify 0.5 into 0.5
11.985 * [taylor]: Taking taylor expansion of phi1 in phi2
11.985 * [backup-simplify]: Simplify phi1 into phi1
11.985 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.986 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.986 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.986 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.986 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.986 * [backup-simplify]: Simplify (- 0) into 0
11.986 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.986 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
11.986 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.986 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.986 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.986 * [backup-simplify]: Simplify 0.5 into 0.5
11.986 * [taylor]: Taking taylor expansion of phi2 in phi2
11.986 * [backup-simplify]: Simplify 0 into 0
11.986 * [backup-simplify]: Simplify 1 into 1
11.987 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.987 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.987 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
11.987 * [taylor]: Taking taylor expansion of 2 in phi2
11.987 * [backup-simplify]: Simplify 2 into 2
11.987 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
11.987 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
11.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.987 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.987 * [backup-simplify]: Simplify 0.5 into 0.5
11.987 * [taylor]: Taking taylor expansion of phi1 in phi2
11.987 * [backup-simplify]: Simplify phi1 into phi1
11.987 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.987 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.987 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.987 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
11.987 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
11.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
11.987 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.987 * [backup-simplify]: Simplify 0.5 into 0.5
11.987 * [taylor]: Taking taylor expansion of phi1 in phi2
11.987 * [backup-simplify]: Simplify phi1 into phi1
11.987 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
11.987 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
11.987 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
11.987 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
11.987 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
11.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.987 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.987 * [backup-simplify]: Simplify 0.5 into 0.5
11.987 * [taylor]: Taking taylor expansion of phi2 in phi2
11.987 * [backup-simplify]: Simplify 0 into 0
11.987 * [backup-simplify]: Simplify 1 into 1
11.988 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.988 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
11.988 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
11.988 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
11.988 * [taylor]: Taking taylor expansion of 0.5 in phi2
11.988 * [backup-simplify]: Simplify 0.5 into 0.5
11.988 * [taylor]: Taking taylor expansion of phi2 in phi2
11.988 * [backup-simplify]: Simplify 0 into 0
11.988 * [backup-simplify]: Simplify 1 into 1
11.988 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
11.988 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
11.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
11.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
11.989 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
11.989 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
11.989 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
11.989 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
11.989 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
11.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
11.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
11.990 * [backup-simplify]: Simplify (- 0) into 0
11.990 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
11.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
11.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
11.990 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
11.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
11.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
11.991 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
11.991 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
11.991 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.992 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
11.993 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
11.994 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
11.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
11.994 * [backup-simplify]: Simplify (+ 0) into 0
11.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.995 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.996 * [backup-simplify]: Simplify (+ 0 0) into 0
11.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
11.996 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
11.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.996 * [backup-simplify]: Simplify (+ 0) into 0
11.997 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
11.997 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
11.997 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
11.998 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
11.998 * [backup-simplify]: Simplify (- 0) into 0
11.998 * [backup-simplify]: Simplify (+ 0 0) into 0
11.998 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
11.998 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
11.999 * [backup-simplify]: Simplify (+ 0 0) into 0
11.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
11.999 * [backup-simplify]: Simplify (+ 0) into 0
11.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.000 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.000 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.001 * [backup-simplify]: Simplify (+ 0 0) into 0
12.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
12.001 * [backup-simplify]: Simplify (+ 0) into 0
12.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.001 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.002 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.002 * [backup-simplify]: Simplify (- 0) into 0
12.003 * [backup-simplify]: Simplify (+ 0 0) into 0
12.003 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.003 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.004 * [backup-simplify]: Simplify (- 0) into 0
12.004 * [backup-simplify]: Simplify (+ 0 0) into 0
12.006 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.007 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.008 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.009 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.015 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.015 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
12.015 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.016 * [backup-simplify]: Simplify (+ 0) into 0
12.017 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.018 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.019 * [backup-simplify]: Simplify (+ 0 0) into 0
12.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.019 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
12.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.020 * [backup-simplify]: Simplify (+ 0) into 0
12.021 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.021 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.022 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.023 * [backup-simplify]: Simplify (- 0) into 0
12.023 * [backup-simplify]: Simplify (+ 0 0) into 0
12.023 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.024 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.024 * [backup-simplify]: Simplify (+ 0 0) into 0
12.024 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.025 * [backup-simplify]: Simplify (+ 0) into 0
12.025 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.025 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.027 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.028 * [backup-simplify]: Simplify (+ 0 0) into 0
12.028 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
12.028 * [backup-simplify]: Simplify (+ 0) into 0
12.029 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.029 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.030 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.030 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.031 * [backup-simplify]: Simplify (- 0) into 0
12.031 * [backup-simplify]: Simplify (+ 0 0) into 0
12.032 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.033 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.033 * [backup-simplify]: Simplify (- 0) into 0
12.033 * [backup-simplify]: Simplify (+ 0 0) into 0
12.035 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0
12.036 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.038 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
12.043 * [backup-simplify]: Simplify (- (/ 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)) (/ 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0
12.044 * [backup-simplify]: Simplify (+ 0 0) into 0
12.044 * [backup-simplify]: Simplify (+ 0 0) into 0
12.046 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))
12.049 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))
12.052 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))))
12.055 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))))
12.061 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) (* (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* 2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))
12.065 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))
12.072 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) (* 0 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
12.072 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
12.072 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
12.072 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) in phi1
12.072 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
12.072 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
12.072 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
12.072 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.073 * [backup-simplify]: Simplify 0.5 into 0.5
12.073 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
12.073 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
12.073 * [taylor]: Taking taylor expansion of phi1 in phi1
12.073 * [backup-simplify]: Simplify 0 into 0
12.073 * [backup-simplify]: Simplify 1 into 1
12.073 * [backup-simplify]: Simplify (/ 1 1) into 1
12.073 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
12.073 * [taylor]: Taking taylor expansion of phi2 in phi1
12.073 * [backup-simplify]: Simplify phi2 into phi2
12.073 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.074 * [backup-simplify]: Simplify (+ 1 0) into 1
12.074 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
12.075 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.075 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))) in phi1
12.075 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) in phi1
12.075 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) in phi1
12.075 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
12.075 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.075 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.075 * [backup-simplify]: Simplify 0.5 into 0.5
12.075 * [taylor]: Taking taylor expansion of phi1 in phi1
12.075 * [backup-simplify]: Simplify 0 into 0
12.075 * [backup-simplify]: Simplify 1 into 1
12.075 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.076 * [taylor]: Taking taylor expansion of (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1)) in phi1
12.076 * [taylor]: Taking taylor expansion of lambda1 in phi1
12.076 * [backup-simplify]: Simplify lambda1 into lambda1
12.076 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) phi1) in phi1
12.076 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
12.076 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.076 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.076 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.076 * [backup-simplify]: Simplify 0.5 into 0.5
12.076 * [taylor]: Taking taylor expansion of phi2 in phi1
12.076 * [backup-simplify]: Simplify phi2 into phi2
12.076 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.076 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.076 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.077 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.077 * [taylor]: Taking taylor expansion of phi1 in phi1
12.077 * [backup-simplify]: Simplify 0 into 0
12.077 * [backup-simplify]: Simplify 1 into 1
12.077 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) in phi1
12.077 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
12.077 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.077 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.077 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.077 * [backup-simplify]: Simplify 0.5 into 0.5
12.077 * [taylor]: Taking taylor expansion of phi1 in phi1
12.077 * [backup-simplify]: Simplify 0 into 0
12.077 * [backup-simplify]: Simplify 1 into 1
12.077 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.078 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.078 * [taylor]: Taking taylor expansion of (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) in phi1
12.078 * [taylor]: Taking taylor expansion of phi1 in phi1
12.078 * [backup-simplify]: Simplify 0 into 0
12.078 * [backup-simplify]: Simplify 1 into 1
12.078 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) in phi1
12.078 * [taylor]: Taking taylor expansion of lambda1 in phi1
12.078 * [backup-simplify]: Simplify lambda1 into lambda1
12.078 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
12.078 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.078 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.078 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.078 * [backup-simplify]: Simplify 0.5 into 0.5
12.078 * [taylor]: Taking taylor expansion of phi2 in phi1
12.078 * [backup-simplify]: Simplify phi2 into phi2
12.078 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.078 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.078 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.078 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.078 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.079 * [backup-simplify]: Simplify (- 0) into 0
12.079 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.079 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))) in phi1
12.079 * [taylor]: Taking taylor expansion of 2 in phi1
12.079 * [backup-simplify]: Simplify 2 into 2
12.079 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))) in phi1
12.079 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.079 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.079 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.079 * [backup-simplify]: Simplify 0.5 into 0.5
12.079 * [taylor]: Taking taylor expansion of phi1 in phi1
12.079 * [backup-simplify]: Simplify 0 into 0
12.079 * [backup-simplify]: Simplify 1 into 1
12.080 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.080 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))) in phi1
12.080 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.080 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.080 * [backup-simplify]: Simplify 0.5 into 0.5
12.080 * [taylor]: Taking taylor expansion of phi1 in phi1
12.080 * [backup-simplify]: Simplify 0 into 0
12.080 * [backup-simplify]: Simplify 1 into 1
12.081 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.081 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.081 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))) in phi1
12.081 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.081 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.081 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.081 * [backup-simplify]: Simplify 0.5 into 0.5
12.081 * [taylor]: Taking taylor expansion of phi2 in phi1
12.081 * [backup-simplify]: Simplify phi2 into phi2
12.081 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.081 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.081 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.081 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* lambda1 phi1)) in phi1
12.081 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.081 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.081 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.081 * [backup-simplify]: Simplify 0.5 into 0.5
12.081 * [taylor]: Taking taylor expansion of phi2 in phi1
12.081 * [backup-simplify]: Simplify phi2 into phi2
12.081 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.081 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.082 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.082 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1
12.082 * [taylor]: Taking taylor expansion of lambda1 in phi1
12.082 * [backup-simplify]: Simplify lambda1 into lambda1
12.082 * [taylor]: Taking taylor expansion of phi1 in phi1
12.082 * [backup-simplify]: Simplify 0 into 0
12.082 * [backup-simplify]: Simplify 1 into 1
12.082 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
12.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
12.083 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
12.083 * [backup-simplify]: Simplify (* lambda1 0) into 0
12.083 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
12.083 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
12.083 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
12.084 * [backup-simplify]: Simplify (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) into (* lambda1 (pow (cos (/ 0.5 phi2)) 2))
12.084 * [backup-simplify]: Simplify (* 0 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.084 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
12.085 * [backup-simplify]: Simplify (+ 0 0) into 0
12.085 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.085 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.085 * [backup-simplify]: Simplify (- 0) into 0
12.085 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.085 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.085 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.086 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.086 * [backup-simplify]: Simplify (* lambda1 0) into 0
12.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
12.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.087 * [backup-simplify]: Simplify (* 2 0) into 0
12.087 * [backup-simplify]: Simplify (- 0) into 0
12.088 * [backup-simplify]: Simplify (+ 0 0) into 0
12.088 * [backup-simplify]: Simplify (+ 0) into 0
12.088 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.089 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.090 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.090 * [backup-simplify]: Simplify (+ 0 0) into 0
12.091 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.091 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 1) (* 0 0)) into (pow (sin (/ 0.5 phi2)) 2)
12.092 * [backup-simplify]: Simplify (+ (* lambda1 (pow (sin (/ 0.5 phi2)) 2)) (* 0 0)) into (* lambda1 (pow (sin (/ 0.5 phi2)) 2))
12.092 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.093 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2)))
12.093 * [backup-simplify]: Simplify (+ 0) into 0
12.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.094 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.095 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.096 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.096 * [backup-simplify]: Simplify (- 0) into 0
12.096 * [backup-simplify]: Simplify (+ 0 0) into 0
12.097 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.097 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.098 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) into (* lambda1 (pow (cos (/ 0.5 phi2)) 2))
12.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.099 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))
12.100 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))
12.100 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1
12.101 * [backup-simplify]: Simplify (+ 0) into 0
12.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.101 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.103 * [backup-simplify]: Simplify (+ 0 0) into 0
12.103 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) lambda1) (* 0 0)) into (* (sin (/ 0.5 phi2)) lambda1)
12.104 * [backup-simplify]: Simplify (+ 0) into 0
12.104 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.104 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.105 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.106 * [backup-simplify]: Simplify (- 0) into 0
12.106 * [backup-simplify]: Simplify (+ 0 0) into 0
12.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) lambda1)) (* 0 0)) into (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
12.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
12.109 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
12.109 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* 0 0)) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.110 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
12.112 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
12.114 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.114 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
12.114 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
12.114 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
12.114 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
12.114 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
12.114 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
12.114 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.114 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.114 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.114 * [backup-simplify]: Simplify 0.5 into 0.5
12.114 * [taylor]: Taking taylor expansion of phi1 in phi1
12.114 * [backup-simplify]: Simplify 0 into 0
12.114 * [backup-simplify]: Simplify 1 into 1
12.115 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.115 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
12.115 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.115 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.115 * [backup-simplify]: Simplify 0.5 into 0.5
12.115 * [taylor]: Taking taylor expansion of phi2 in phi1
12.115 * [backup-simplify]: Simplify phi2 into phi2
12.115 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.116 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
12.116 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
12.116 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.116 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.116 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.116 * [backup-simplify]: Simplify 0.5 into 0.5
12.116 * [taylor]: Taking taylor expansion of phi1 in phi1
12.116 * [backup-simplify]: Simplify 0 into 0
12.116 * [backup-simplify]: Simplify 1 into 1
12.117 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.117 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.117 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
12.117 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.117 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.117 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.117 * [backup-simplify]: Simplify 0.5 into 0.5
12.117 * [taylor]: Taking taylor expansion of phi2 in phi1
12.117 * [backup-simplify]: Simplify phi2 into phi2
12.117 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.117 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.117 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.118 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.118 * [backup-simplify]: Simplify (- 0) into 0
12.118 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.118 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
12.118 * [taylor]: Taking taylor expansion of 2 in phi1
12.118 * [backup-simplify]: Simplify 2 into 2
12.118 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
12.118 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.118 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.118 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.118 * [backup-simplify]: Simplify 0.5 into 0.5
12.118 * [taylor]: Taking taylor expansion of phi1 in phi1
12.118 * [backup-simplify]: Simplify 0 into 0
12.118 * [backup-simplify]: Simplify 1 into 1
12.119 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.119 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.119 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
12.119 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.119 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.119 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.119 * [backup-simplify]: Simplify 0.5 into 0.5
12.119 * [taylor]: Taking taylor expansion of phi1 in phi1
12.119 * [backup-simplify]: Simplify 0 into 0
12.119 * [backup-simplify]: Simplify 1 into 1
12.120 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.120 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.120 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
12.120 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.120 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.120 * [backup-simplify]: Simplify 0.5 into 0.5
12.120 * [taylor]: Taking taylor expansion of phi2 in phi1
12.120 * [backup-simplify]: Simplify phi2 into phi2
12.120 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.120 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.120 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.120 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.120 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.120 * [backup-simplify]: Simplify 0.5 into 0.5
12.121 * [taylor]: Taking taylor expansion of phi2 in phi1
12.121 * [backup-simplify]: Simplify phi2 into phi2
12.121 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.121 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.121 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
12.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
12.122 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
12.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
12.122 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
12.122 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
12.123 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
12.123 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.123 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.123 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.124 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.124 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.124 * [backup-simplify]: Simplify (- 0) into 0
12.124 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.124 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
12.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
12.125 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
12.125 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
12.126 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.127 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.129 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
12.130 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.131 * [backup-simplify]: Simplify (+ 0) into 0
12.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.132 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.133 * [backup-simplify]: Simplify (+ 0 0) into 0
12.133 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.134 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
12.134 * [backup-simplify]: Simplify (+ 0) into 0
12.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.135 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.137 * [backup-simplify]: Simplify (- 0) into 0
12.137 * [backup-simplify]: Simplify (+ 0 0) into 0
12.137 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.138 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.138 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.139 * [backup-simplify]: Simplify (+ 0 0) into 0
12.139 * [backup-simplify]: Simplify (+ 0) into 0
12.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.140 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.141 * [backup-simplify]: Simplify (- 0) into 0
12.142 * [backup-simplify]: Simplify (+ 0 0) into 0
12.142 * [backup-simplify]: Simplify (+ 0) into 0
12.143 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.143 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.144 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.144 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.145 * [backup-simplify]: Simplify (+ 0 0) into 0
12.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.145 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
12.146 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.147 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.147 * [backup-simplify]: Simplify (- 0) into 0
12.147 * [backup-simplify]: Simplify (+ 0 0) into 0
12.151 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.153 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.157 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
12.161 * [backup-simplify]: Simplify (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
12.161 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in lambda1
12.161 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda1
12.161 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1
12.161 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
12.161 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
12.161 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
12.161 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.161 * [backup-simplify]: Simplify 0.5 into 0.5
12.161 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
12.161 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
12.161 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.161 * [backup-simplify]: Simplify phi1 into phi1
12.162 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.162 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
12.162 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.162 * [backup-simplify]: Simplify phi2 into phi2
12.162 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.162 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
12.162 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
12.162 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.162 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.163 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.163 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
12.163 * [backup-simplify]: Simplify (- 0) into 0
12.164 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.164 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
12.164 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) in lambda1
12.164 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) in lambda1
12.164 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
12.164 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
12.164 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.164 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.164 * [backup-simplify]: Simplify 0.5 into 0.5
12.164 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.164 * [backup-simplify]: Simplify phi1 into phi1
12.164 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.164 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.164 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.165 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
12.165 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.165 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
12.165 * [taylor]: Taking taylor expansion of (* lambda1 (pow (sin (/ 0.5 phi2)) 2)) in lambda1
12.165 * [taylor]: Taking taylor expansion of lambda1 in lambda1
12.165 * [backup-simplify]: Simplify 0 into 0
12.165 * [backup-simplify]: Simplify 1 into 1
12.165 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
12.165 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
12.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.165 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.165 * [backup-simplify]: Simplify 0.5 into 0.5
12.165 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.165 * [backup-simplify]: Simplify phi2 into phi2
12.165 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.165 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.165 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.166 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.166 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.166 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) in lambda1
12.166 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
12.166 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
12.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.166 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.166 * [backup-simplify]: Simplify 0.5 into 0.5
12.166 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.166 * [backup-simplify]: Simplify phi1 into phi1
12.166 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.166 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
12.167 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
12.167 * [backup-simplify]: Simplify (- 0) into 0
12.167 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
12.167 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) in lambda1
12.167 * [taylor]: Taking taylor expansion of lambda1 in lambda1
12.167 * [backup-simplify]: Simplify 0 into 0
12.167 * [backup-simplify]: Simplify 1 into 1
12.167 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
12.167 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
12.167 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.167 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.167 * [backup-simplify]: Simplify 0.5 into 0.5
12.167 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.167 * [backup-simplify]: Simplify phi2 into phi2
12.168 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.168 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.168 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.168 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.168 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.168 * [backup-simplify]: Simplify (- 0) into 0
12.169 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.169 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
12.169 * [taylor]: Taking taylor expansion of 2 in lambda1
12.169 * [backup-simplify]: Simplify 2 into 2
12.169 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
12.169 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
12.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.169 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.169 * [backup-simplify]: Simplify 0.5 into 0.5
12.169 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.169 * [backup-simplify]: Simplify phi1 into phi1
12.169 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.169 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
12.169 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
12.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.169 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.169 * [backup-simplify]: Simplify 0.5 into 0.5
12.169 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.169 * [backup-simplify]: Simplify phi1 into phi1
12.169 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.170 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.170 * [taylor]: Taking taylor expansion of (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
12.170 * [taylor]: Taking taylor expansion of lambda1 in lambda1
12.170 * [backup-simplify]: Simplify 0 into 0
12.170 * [backup-simplify]: Simplify 1 into 1
12.170 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
12.170 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
12.170 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.170 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.170 * [backup-simplify]: Simplify 0.5 into 0.5
12.170 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.170 * [backup-simplify]: Simplify phi2 into phi2
12.170 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.170 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.170 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.170 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
12.170 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.170 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.170 * [backup-simplify]: Simplify 0.5 into 0.5
12.171 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.171 * [backup-simplify]: Simplify phi2 into phi2
12.171 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.171 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.171 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.171 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
12.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
12.172 * [backup-simplify]: Simplify (* 0 (pow (sin (/ 0.5 phi2)) 2)) into 0
12.172 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
12.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
12.173 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
12.173 * [backup-simplify]: Simplify (* 0 (pow (cos (/ 0.5 phi2)) 2)) into 0
12.173 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
12.173 * [backup-simplify]: Simplify (+ 0 0) into 0
12.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
12.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
12.174 * [backup-simplify]: Simplify (- 0) into 0
12.174 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
12.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
12.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.175 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
12.175 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.175 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.175 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.175 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.175 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.176 * [backup-simplify]: Simplify (- 0) into 0
12.176 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
12.176 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into 0
12.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
12.176 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.177 * [backup-simplify]: Simplify (* 2 0) into 0
12.177 * [backup-simplify]: Simplify (- 0) into 0
12.178 * [backup-simplify]: Simplify (+ 0 0) into 0
12.178 * [backup-simplify]: Simplify (+ 0) into 0
12.178 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.179 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.180 * [backup-simplify]: Simplify (+ 0 0) into 0
12.180 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.181 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (sin (/ 0.5 phi2)) 2))) into (pow (sin (/ 0.5 phi2)) 2)
12.182 * [backup-simplify]: Simplify (+ 0) into 0
12.182 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.182 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.183 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.184 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.184 * [backup-simplify]: Simplify (+ 0 0) into 0
12.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.185 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
12.185 * [backup-simplify]: Simplify (+ 0) into 0
12.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.186 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.188 * [backup-simplify]: Simplify (- 0) into 0
12.188 * [backup-simplify]: Simplify (+ 0 0) into 0
12.189 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.189 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (/ 0.5 phi2)) 2))) into (pow (cos (/ 0.5 phi2)) 2)
12.190 * [backup-simplify]: Simplify (+ 0) into 0
12.190 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.190 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.191 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.199 * [backup-simplify]: Simplify (- 0) into 0
12.199 * [backup-simplify]: Simplify (+ 0 0) into 0
12.200 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.201 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
12.201 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
12.202 * [backup-simplify]: Simplify (+ 0) into 0
12.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.203 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.204 * [backup-simplify]: Simplify (- 0) into 0
12.205 * [backup-simplify]: Simplify (+ 0 0) into 0
12.205 * [backup-simplify]: Simplify (+ 0) into 0
12.206 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.206 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.207 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.208 * [backup-simplify]: Simplify (+ 0 0) into 0
12.208 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.208 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
12.209 * [backup-simplify]: Simplify (+ 0) into 0
12.209 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.209 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.210 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.210 * [backup-simplify]: Simplify (+ 0 0) into 0
12.212 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
12.212 * [backup-simplify]: Simplify (+ 0) into 0
12.213 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.213 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.214 * [backup-simplify]: Simplify (- 0) into 0
12.214 * [backup-simplify]: Simplify (+ 0 0) into 0
12.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
12.215 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* 0 0)) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
12.215 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.216 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.217 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
12.217 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1
12.217 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
12.217 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
12.218 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
12.218 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
12.218 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
12.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
12.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.218 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.218 * [backup-simplify]: Simplify 0.5 into 0.5
12.218 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.218 * [backup-simplify]: Simplify phi1 into phi1
12.218 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
12.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.218 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
12.218 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
12.218 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
12.218 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.218 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.218 * [backup-simplify]: Simplify 0.5 into 0.5
12.218 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.218 * [backup-simplify]: Simplify phi2 into phi2
12.218 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.218 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.218 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.218 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.218 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.219 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.219 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
12.219 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
12.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
12.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.219 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.219 * [backup-simplify]: Simplify 0.5 into 0.5
12.219 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.219 * [backup-simplify]: Simplify phi1 into phi1
12.219 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.219 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.219 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.219 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
12.219 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
12.219 * [backup-simplify]: Simplify (- 0) into 0
12.219 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
12.219 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
12.219 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
12.219 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.219 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.219 * [backup-simplify]: Simplify 0.5 into 0.5
12.219 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.219 * [backup-simplify]: Simplify phi2 into phi2
12.219 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.220 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.220 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.220 * [backup-simplify]: Simplify (- 0) into 0
12.220 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.220 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
12.220 * [taylor]: Taking taylor expansion of 2 in lambda1
12.220 * [backup-simplify]: Simplify 2 into 2
12.220 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
12.220 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
12.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.220 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.220 * [backup-simplify]: Simplify 0.5 into 0.5
12.220 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.220 * [backup-simplify]: Simplify phi1 into phi1
12.220 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.220 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.220 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.220 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
12.220 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
12.220 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.220 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.221 * [backup-simplify]: Simplify 0.5 into 0.5
12.221 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.221 * [backup-simplify]: Simplify phi1 into phi1
12.221 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.221 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
12.221 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
12.221 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.221 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.221 * [backup-simplify]: Simplify 0.5 into 0.5
12.221 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.221 * [backup-simplify]: Simplify phi2 into phi2
12.221 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.221 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
12.221 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.221 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.221 * [backup-simplify]: Simplify 0.5 into 0.5
12.221 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.221 * [backup-simplify]: Simplify phi2 into phi2
12.221 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.221 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.221 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
12.221 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
12.222 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
12.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
12.222 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
12.222 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
12.222 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
12.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
12.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
12.223 * [backup-simplify]: Simplify (- 0) into 0
12.223 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
12.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
12.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.223 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
12.223 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.223 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.223 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.224 * [backup-simplify]: Simplify (- 0) into 0
12.224 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
12.224 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
12.224 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
12.224 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
12.225 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.226 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.226 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
12.227 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.228 * [backup-simplify]: Simplify (+ 0) into 0
12.228 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.228 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.229 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.229 * [backup-simplify]: Simplify (+ 0 0) into 0
12.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.229 * [backup-simplify]: Simplify (+ 0) into 0
12.230 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.230 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.231 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.231 * [backup-simplify]: Simplify (+ 0 0) into 0
12.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.231 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
12.232 * [backup-simplify]: Simplify (+ 0) into 0
12.232 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.233 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.233 * [backup-simplify]: Simplify (- 0) into 0
12.233 * [backup-simplify]: Simplify (+ 0 0) into 0
12.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.234 * [backup-simplify]: Simplify (+ 0) into 0
12.234 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.234 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.235 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.235 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.235 * [backup-simplify]: Simplify (- 0) into 0
12.235 * [backup-simplify]: Simplify (+ 0 0) into 0
12.236 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.236 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.236 * [backup-simplify]: Simplify (+ 0 0) into 0
12.236 * [backup-simplify]: Simplify (+ 0) into 0
12.237 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.237 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.237 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.238 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.238 * [backup-simplify]: Simplify (- 0) into 0
12.238 * [backup-simplify]: Simplify (+ 0 0) into 0
12.239 * [backup-simplify]: Simplify (+ 0) into 0
12.239 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.239 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.239 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.240 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.240 * [backup-simplify]: Simplify (+ 0 0) into 0
12.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.240 * [backup-simplify]: Simplify (+ 0) into 0
12.241 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.242 * [backup-simplify]: Simplify (+ 0 0) into 0
12.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
12.242 * [backup-simplify]: Simplify (+ 0) into 0
12.243 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.243 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.243 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.243 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.244 * [backup-simplify]: Simplify (- 0) into 0
12.244 * [backup-simplify]: Simplify (+ 0 0) into 0
12.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.245 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.245 * [backup-simplify]: Simplify (- 0) into 0
12.245 * [backup-simplify]: Simplify (+ 0 0) into 0
12.247 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.248 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.251 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
12.254 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
12.256 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
12.257 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
12.258 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.259 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.259 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.260 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.261 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.261 * [backup-simplify]: Simplify (+ 0 0) into 0
12.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
12.263 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
12.263 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
12.264 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.265 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.265 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.266 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.267 * [backup-simplify]: Simplify (- 0) into 0
12.267 * [backup-simplify]: Simplify (+ 0 0) into 0
12.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
12.269 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
12.269 * [backup-simplify]: Simplify (+ 0 0) into 0
12.270 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
12.271 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.272 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.272 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.273 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.273 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.274 * [backup-simplify]: Simplify (+ 0 0) into 0
12.274 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.275 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.276 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.277 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.278 * [backup-simplify]: Simplify (- 0) into 0
12.278 * [backup-simplify]: Simplify (+ 0 0) into 0
12.279 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.280 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
12.281 * [backup-simplify]: Simplify (- 0) into 0
12.281 * [backup-simplify]: Simplify (+ 0 0) into 0
12.286 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.289 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.290 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
12.290 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
12.291 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))
12.292 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))
12.293 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
12.293 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
12.293 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0
12.295 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2))) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.297 * [backup-simplify]: Simplify (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
12.300 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (- (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2))))
12.305 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 phi1))) 0) (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2)))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))))
12.315 * [backup-simplify]: Simplify (+ (* 1/2 (- (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2)))) (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))))) (+ (* 0 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)))))
12.316 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))))) in phi1
12.316 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi1
12.316 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
12.316 * [taylor]: Taking taylor expansion of 1/2 in phi1
12.316 * [backup-simplify]: Simplify 1/2 into 1/2
12.316 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
12.316 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
12.316 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
12.316 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
12.316 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
12.316 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.316 * [backup-simplify]: Simplify 0.5 into 0.5
12.316 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
12.316 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
12.316 * [taylor]: Taking taylor expansion of phi1 in phi1
12.316 * [backup-simplify]: Simplify 0 into 0
12.316 * [backup-simplify]: Simplify 1 into 1
12.317 * [backup-simplify]: Simplify (/ 1 1) into 1
12.317 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
12.317 * [taylor]: Taking taylor expansion of phi2 in phi1
12.317 * [backup-simplify]: Simplify phi2 into phi2
12.317 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.318 * [backup-simplify]: Simplify (+ 1 0) into 1
12.318 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
12.318 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.318 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
12.318 * [taylor]: Taking taylor expansion of lambda1 in phi1
12.318 * [backup-simplify]: Simplify lambda1 into lambda1
12.319 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.319 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
12.319 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
12.319 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
12.319 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
12.319 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
12.320 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
12.320 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
12.320 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
12.320 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.320 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.320 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.320 * [backup-simplify]: Simplify 0.5 into 0.5
12.320 * [taylor]: Taking taylor expansion of phi1 in phi1
12.320 * [backup-simplify]: Simplify 0 into 0
12.320 * [backup-simplify]: Simplify 1 into 1
12.321 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.321 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
12.321 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.321 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.321 * [backup-simplify]: Simplify 0.5 into 0.5
12.321 * [taylor]: Taking taylor expansion of phi2 in phi1
12.321 * [backup-simplify]: Simplify phi2 into phi2
12.321 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.321 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.321 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.321 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.321 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.321 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.321 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
12.321 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
12.321 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.321 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.321 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.321 * [backup-simplify]: Simplify 0.5 into 0.5
12.321 * [taylor]: Taking taylor expansion of phi1 in phi1
12.321 * [backup-simplify]: Simplify 0 into 0
12.321 * [backup-simplify]: Simplify 1 into 1
12.322 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.322 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
12.322 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.322 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.322 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.322 * [backup-simplify]: Simplify 0.5 into 0.5
12.322 * [taylor]: Taking taylor expansion of phi2 in phi1
12.322 * [backup-simplify]: Simplify phi2 into phi2
12.322 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.322 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.322 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.322 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.322 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.322 * [backup-simplify]: Simplify (- 0) into 0
12.322 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.322 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
12.323 * [taylor]: Taking taylor expansion of 2 in phi1
12.323 * [backup-simplify]: Simplify 2 into 2
12.323 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
12.323 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.323 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.323 * [backup-simplify]: Simplify 0.5 into 0.5
12.323 * [taylor]: Taking taylor expansion of phi1 in phi1
12.323 * [backup-simplify]: Simplify 0 into 0
12.323 * [backup-simplify]: Simplify 1 into 1
12.323 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.323 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.323 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
12.323 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.323 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.323 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.323 * [backup-simplify]: Simplify 0.5 into 0.5
12.323 * [taylor]: Taking taylor expansion of phi1 in phi1
12.323 * [backup-simplify]: Simplify 0 into 0
12.323 * [backup-simplify]: Simplify 1 into 1
12.323 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.324 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
12.324 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.324 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.324 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.324 * [backup-simplify]: Simplify 0.5 into 0.5
12.324 * [taylor]: Taking taylor expansion of phi2 in phi1
12.324 * [backup-simplify]: Simplify phi2 into phi2
12.324 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.324 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.324 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.324 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.324 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.324 * [backup-simplify]: Simplify 0.5 into 0.5
12.324 * [taylor]: Taking taylor expansion of phi2 in phi1
12.324 * [backup-simplify]: Simplify phi2 into phi2
12.324 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.324 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.324 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
12.324 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
12.325 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
12.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
12.325 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
12.325 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
12.325 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
12.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.326 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.326 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.326 * [backup-simplify]: Simplify (- 0) into 0
12.326 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
12.326 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
12.327 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
12.327 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
12.327 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.328 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.329 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
12.330 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.330 * [backup-simplify]: Simplify (+ 0) into 0
12.330 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.331 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.332 * [backup-simplify]: Simplify (+ 0 0) into 0
12.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.332 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
12.332 * [backup-simplify]: Simplify (+ 0) into 0
12.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.333 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.334 * [backup-simplify]: Simplify (- 0) into 0
12.334 * [backup-simplify]: Simplify (+ 0 0) into 0
12.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.334 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.335 * [backup-simplify]: Simplify (+ 0 0) into 0
12.335 * [backup-simplify]: Simplify (+ 0) into 0
12.339 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.340 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.340 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.341 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.341 * [backup-simplify]: Simplify (- 0) into 0
12.341 * [backup-simplify]: Simplify (+ 0 0) into 0
12.341 * [backup-simplify]: Simplify (+ 0) into 0
12.342 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.342 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.342 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.343 * [backup-simplify]: Simplify (+ 0 0) into 0
12.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.343 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
12.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.344 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.344 * [backup-simplify]: Simplify (- 0) into 0
12.344 * [backup-simplify]: Simplify (+ 0 0) into 0
12.346 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.347 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.347 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
12.347 * [taylor]: Taking taylor expansion of 1/2 in phi1
12.348 * [backup-simplify]: Simplify 1/2 into 1/2
12.348 * [taylor]: Taking taylor expansion of (* (/ 1 (pow phi1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
12.348 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
12.348 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
12.348 * [taylor]: Taking taylor expansion of phi1 in phi1
12.348 * [backup-simplify]: Simplify 0 into 0
12.348 * [backup-simplify]: Simplify 1 into 1
12.348 * [backup-simplify]: Simplify (* 1 1) into 1
12.348 * [backup-simplify]: Simplify (/ 1 1) into 1
12.348 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
12.348 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
12.348 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
12.348 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
12.348 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
12.348 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
12.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.348 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.348 * [backup-simplify]: Simplify 0.5 into 0.5
12.348 * [taylor]: Taking taylor expansion of phi1 in phi1
12.348 * [backup-simplify]: Simplify 0 into 0
12.348 * [backup-simplify]: Simplify 1 into 1
12.349 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.349 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
12.349 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.349 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.349 * [backup-simplify]: Simplify 0.5 into 0.5
12.349 * [taylor]: Taking taylor expansion of phi2 in phi1
12.349 * [backup-simplify]: Simplify phi2 into phi2
12.349 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.349 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.349 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
12.349 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
12.349 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.349 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.349 * [backup-simplify]: Simplify 0.5 into 0.5
12.349 * [taylor]: Taking taylor expansion of phi1 in phi1
12.349 * [backup-simplify]: Simplify 0 into 0
12.350 * [backup-simplify]: Simplify 1 into 1
12.350 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.350 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
12.350 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.350 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.350 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.350 * [backup-simplify]: Simplify 0.5 into 0.5
12.350 * [taylor]: Taking taylor expansion of phi2 in phi1
12.350 * [backup-simplify]: Simplify phi2 into phi2
12.350 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.351 * [backup-simplify]: Simplify (- 0) into 0
12.351 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.351 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
12.351 * [taylor]: Taking taylor expansion of 2 in phi1
12.351 * [backup-simplify]: Simplify 2 into 2
12.351 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
12.351 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.351 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.351 * [backup-simplify]: Simplify 0.5 into 0.5
12.351 * [taylor]: Taking taylor expansion of phi1 in phi1
12.351 * [backup-simplify]: Simplify 0 into 0
12.351 * [backup-simplify]: Simplify 1 into 1
12.351 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.351 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.351 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
12.351 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.351 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.351 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.351 * [backup-simplify]: Simplify 0.5 into 0.5
12.351 * [taylor]: Taking taylor expansion of phi1 in phi1
12.351 * [backup-simplify]: Simplify 0 into 0
12.351 * [backup-simplify]: Simplify 1 into 1
12.352 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.352 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
12.352 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.352 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.352 * [backup-simplify]: Simplify 0.5 into 0.5
12.352 * [taylor]: Taking taylor expansion of phi2 in phi1
12.352 * [backup-simplify]: Simplify phi2 into phi2
12.352 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.352 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.352 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.352 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.352 * [backup-simplify]: Simplify 0.5 into 0.5
12.352 * [taylor]: Taking taylor expansion of phi2 in phi1
12.352 * [backup-simplify]: Simplify phi2 into phi2
12.352 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.352 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.352 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
12.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
12.353 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
12.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
12.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
12.354 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
12.354 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
12.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.355 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.355 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.356 * [backup-simplify]: Simplify (- 0) into 0
12.356 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
12.356 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
12.356 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
12.357 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
12.357 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.359 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.360 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
12.362 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.363 * [backup-simplify]: Simplify (+ 0) into 0
12.363 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.364 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.364 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.365 * [backup-simplify]: Simplify (+ 0 0) into 0
12.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.366 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.366 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
12.367 * [backup-simplify]: Simplify (+ 0) into 0
12.367 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.367 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.369 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.369 * [backup-simplify]: Simplify (- 0) into 0
12.369 * [backup-simplify]: Simplify (+ 0 0) into 0
12.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.370 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.370 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.371 * [backup-simplify]: Simplify (+ 0 0) into 0
12.371 * [backup-simplify]: Simplify (+ 0) into 0
12.371 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.372 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.373 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.373 * [backup-simplify]: Simplify (- 0) into 0
12.374 * [backup-simplify]: Simplify (+ 0 0) into 0
12.374 * [backup-simplify]: Simplify (+ 0) into 0
12.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.375 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.376 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.376 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.377 * [backup-simplify]: Simplify (+ 0 0) into 0
12.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.377 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
12.378 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.379 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.379 * [backup-simplify]: Simplify (- 0) into 0
12.379 * [backup-simplify]: Simplify (+ 0 0) into 0
12.383 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.385 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.385 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)))) in phi1
12.385 * [taylor]: Taking taylor expansion of 1/2 in phi1
12.385 * [backup-simplify]: Simplify 1/2 into 1/2
12.385 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))) in phi1
12.385 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi1
12.385 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi1
12.385 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi1
12.385 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
12.385 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
12.385 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
12.385 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
12.385 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.385 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.385 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.385 * [backup-simplify]: Simplify 0.5 into 0.5
12.385 * [taylor]: Taking taylor expansion of phi1 in phi1
12.385 * [backup-simplify]: Simplify 0 into 0
12.385 * [backup-simplify]: Simplify 1 into 1
12.386 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.386 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.386 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
12.386 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.386 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.386 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.386 * [backup-simplify]: Simplify 0.5 into 0.5
12.386 * [taylor]: Taking taylor expansion of phi2 in phi1
12.386 * [backup-simplify]: Simplify phi2 into phi2
12.386 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.386 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.386 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.387 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.387 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.387 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
12.387 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
12.387 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.387 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.387 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.387 * [backup-simplify]: Simplify 0.5 into 0.5
12.387 * [taylor]: Taking taylor expansion of phi1 in phi1
12.387 * [backup-simplify]: Simplify 0 into 0
12.387 * [backup-simplify]: Simplify 1 into 1
12.388 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.388 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.388 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
12.388 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.388 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.388 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.388 * [backup-simplify]: Simplify 0.5 into 0.5
12.388 * [taylor]: Taking taylor expansion of phi2 in phi1
12.388 * [backup-simplify]: Simplify phi2 into phi2
12.388 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.388 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.388 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.388 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.389 * [backup-simplify]: Simplify (- 0) into 0
12.389 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.389 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
12.389 * [taylor]: Taking taylor expansion of 2 in phi1
12.389 * [backup-simplify]: Simplify 2 into 2
12.389 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
12.389 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
12.389 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.389 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.389 * [backup-simplify]: Simplify 0.5 into 0.5
12.389 * [taylor]: Taking taylor expansion of phi1 in phi1
12.389 * [backup-simplify]: Simplify 0 into 0
12.389 * [backup-simplify]: Simplify 1 into 1
12.390 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.390 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.390 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
12.390 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
12.390 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
12.390 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.390 * [backup-simplify]: Simplify 0.5 into 0.5
12.390 * [taylor]: Taking taylor expansion of phi1 in phi1
12.390 * [backup-simplify]: Simplify 0 into 0
12.390 * [backup-simplify]: Simplify 1 into 1
12.391 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
12.391 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.391 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
12.391 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
12.391 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.391 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.391 * [backup-simplify]: Simplify 0.5 into 0.5
12.391 * [taylor]: Taking taylor expansion of phi2 in phi1
12.391 * [backup-simplify]: Simplify phi2 into phi2
12.391 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.391 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.391 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.391 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
12.391 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
12.391 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.391 * [backup-simplify]: Simplify 0.5 into 0.5
12.391 * [taylor]: Taking taylor expansion of phi2 in phi1
12.391 * [backup-simplify]: Simplify phi2 into phi2
12.391 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.392 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.392 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.392 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
12.392 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
12.392 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
12.393 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
12.393 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
12.393 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
12.394 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
12.394 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.394 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.395 * [backup-simplify]: Simplify (- 0) into 0
12.395 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
12.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
12.396 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
12.396 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
12.397 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.398 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.401 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)
12.404 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)
12.406 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))
12.408 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))
12.409 * [backup-simplify]: Simplify (+ 0) into 0
12.409 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.409 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.410 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.411 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.411 * [backup-simplify]: Simplify (+ 0 0) into 0
12.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.411 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.412 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
12.412 * [backup-simplify]: Simplify (+ 0) into 0
12.413 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.413 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.414 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.414 * [backup-simplify]: Simplify (- 0) into 0
12.414 * [backup-simplify]: Simplify (+ 0 0) into 0
12.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.415 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.415 * [backup-simplify]: Simplify (+ 0 0) into 0
12.415 * [backup-simplify]: Simplify (+ 0) into 0
12.415 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.416 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.416 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.416 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.417 * [backup-simplify]: Simplify (- 0) into 0
12.417 * [backup-simplify]: Simplify (+ 0 0) into 0
12.417 * [backup-simplify]: Simplify (+ 0) into 0
12.417 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.417 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.418 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.418 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.418 * [backup-simplify]: Simplify (+ 0 0) into 0
12.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.419 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
12.419 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.419 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.420 * [backup-simplify]: Simplify (- 0) into 0
12.420 * [backup-simplify]: Simplify (+ 0 0) into 0
12.422 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0
12.423 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0
12.425 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0
12.426 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0
12.426 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) in phi1
12.426 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi1
12.427 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
12.427 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
12.427 * [taylor]: Taking taylor expansion of 0.5 in phi1
12.427 * [backup-simplify]: Simplify 0.5 into 0.5
12.427 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
12.427 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
12.427 * [taylor]: Taking taylor expansion of phi1 in phi1
12.427 * [backup-simplify]: Simplify 0 into 0
12.427 * [backup-simplify]: Simplify 1 into 1
12.427 * [backup-simplify]: Simplify (/ 1 1) into 1
12.427 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
12.427 * [taylor]: Taking taylor expansion of phi2 in phi1
12.427 * [backup-simplify]: Simplify phi2 into phi2
12.427 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.427 * [backup-simplify]: Simplify (+ 1 0) into 1
12.428 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
12.428 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.428 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
12.428 * [taylor]: Taking taylor expansion of lambda1 in phi1
12.428 * [backup-simplify]: Simplify lambda1 into lambda1
12.428 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.428 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
12.429 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
12.429 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))
12.429 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.430 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
12.431 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.432 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.433 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.433 * [backup-simplify]: Simplify (+ 0 0) into 0
12.433 * [backup-simplify]: Simplify (+ 0 0) into 0
12.433 * [taylor]: Taking taylor expansion of 0 in lambda1
12.433 * [backup-simplify]: Simplify 0 into 0
12.434 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
12.434 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
12.435 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
12.437 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0
12.437 * [taylor]: Taking taylor expansion of 0 in phi1
12.437 * [backup-simplify]: Simplify 0 into 0
12.437 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
12.438 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.438 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.438 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.439 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.439 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.439 * [backup-simplify]: Simplify (+ 0 0) into 0
12.440 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
12.440 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
12.440 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
12.441 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.441 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.442 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.442 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.442 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.443 * [backup-simplify]: Simplify (- 0) into 0
12.443 * [backup-simplify]: Simplify (+ 0 0) into 0
12.443 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
12.444 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
12.444 * [backup-simplify]: Simplify (+ 0 0) into 0
12.444 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
12.445 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.446 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.446 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.447 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.448 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.448 * [backup-simplify]: Simplify (+ 0 0) into 0
12.449 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.450 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.451 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.451 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.452 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.452 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.453 * [backup-simplify]: Simplify (- 0) into 0
12.453 * [backup-simplify]: Simplify (+ 0 0) into 0
12.454 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.455 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
12.456 * [backup-simplify]: Simplify (- 0) into 0
12.456 * [backup-simplify]: Simplify (+ 0 0) into 0
12.458 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
12.458 * [taylor]: Taking taylor expansion of 0 in phi1
12.458 * [backup-simplify]: Simplify 0 into 0
12.459 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
12.461 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.461 * [backup-simplify]: Simplify (- 0) into 0
12.461 * [taylor]: Taking taylor expansion of 0 in lambda1
12.461 * [backup-simplify]: Simplify 0 into 0
12.463 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.465 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
12.465 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1
12.465 * [taylor]: Taking taylor expansion of -1 in lambda1
12.465 * [backup-simplify]: Simplify -1 into -1
12.465 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1
12.466 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1
12.466 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
12.466 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
12.466 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
12.466 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
12.466 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
12.466 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
12.466 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.466 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.466 * [backup-simplify]: Simplify 0.5 into 0.5
12.466 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.466 * [backup-simplify]: Simplify phi1 into phi1
12.466 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.466 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.466 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
12.467 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.467 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
12.467 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
12.467 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
12.467 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.467 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.467 * [backup-simplify]: Simplify 0.5 into 0.5
12.467 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.467 * [backup-simplify]: Simplify phi2 into phi2
12.467 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.467 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.467 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.467 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.467 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.467 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.468 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
12.468 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
12.468 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
12.468 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.468 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.468 * [backup-simplify]: Simplify 0.5 into 0.5
12.468 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.468 * [backup-simplify]: Simplify phi1 into phi1
12.468 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.468 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.468 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.468 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
12.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
12.469 * [backup-simplify]: Simplify (- 0) into 0
12.469 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
12.469 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
12.469 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
12.469 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.469 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.469 * [backup-simplify]: Simplify 0.5 into 0.5
12.469 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.469 * [backup-simplify]: Simplify phi2 into phi2
12.469 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.469 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.469 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.470 * [backup-simplify]: Simplify (- 0) into 0
12.470 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.470 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
12.470 * [taylor]: Taking taylor expansion of 2 in lambda1
12.470 * [backup-simplify]: Simplify 2 into 2
12.470 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
12.470 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
12.470 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.470 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.470 * [backup-simplify]: Simplify 0.5 into 0.5
12.470 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.471 * [backup-simplify]: Simplify phi1 into phi1
12.471 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.471 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.471 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.471 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
12.471 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
12.471 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
12.471 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.471 * [backup-simplify]: Simplify 0.5 into 0.5
12.471 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.471 * [backup-simplify]: Simplify phi1 into phi1
12.471 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
12.471 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
12.471 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
12.471 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
12.471 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
12.471 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.471 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.471 * [backup-simplify]: Simplify 0.5 into 0.5
12.471 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.471 * [backup-simplify]: Simplify phi2 into phi2
12.471 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.472 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.472 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
12.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
12.472 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.472 * [backup-simplify]: Simplify 0.5 into 0.5
12.472 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.472 * [backup-simplify]: Simplify phi2 into phi2
12.472 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
12.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
12.472 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
12.472 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
12.473 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
12.473 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
12.473 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
12.473 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
12.474 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
12.474 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
12.475 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
12.475 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
12.475 * [backup-simplify]: Simplify (- 0) into 0
12.475 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
12.476 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
12.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
12.476 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
12.476 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
12.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
12.476 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
12.476 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
12.476 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
12.477 * [backup-simplify]: Simplify (- 0) into 0
12.477 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
12.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
12.477 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
12.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
12.478 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
12.479 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.480 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
12.482 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
12.484 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
12.484 * [backup-simplify]: Simplify (+ 0) into 0
12.485 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.485 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.486 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.486 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.487 * [backup-simplify]: Simplify (+ 0 0) into 0
12.487 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
12.492 * [backup-simplify]: Simplify (+ 0) into 0
12.493 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.494 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.494 * [backup-simplify]: Simplify (+ 0 0) into 0
12.494 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
12.495 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
12.495 * [backup-simplify]: Simplify (+ 0) into 0
12.495 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.496 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.496 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.497 * [backup-simplify]: Simplify (- 0) into 0
12.497 * [backup-simplify]: Simplify (+ 0 0) into 0
12.497 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.497 * [backup-simplify]: Simplify (+ 0) into 0
12.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.498 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.498 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.499 * [backup-simplify]: Simplify (- 0) into 0
12.499 * [backup-simplify]: Simplify (+ 0 0) into 0
12.499 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
12.499 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
12.500 * [backup-simplify]: Simplify (+ 0 0) into 0
12.500 * [backup-simplify]: Simplify (+ 0) into 0
12.500 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.500 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.501 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.501 * [backup-simplify]: Simplify (- 0) into 0
12.501 * [backup-simplify]: Simplify (+ 0 0) into 0
12.502 * [backup-simplify]: Simplify (+ 0) into 0
12.502 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
12.502 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
12.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
12.503 * [backup-simplify]: Simplify (+ 0 0) into 0
12.503 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
12.504 * [backup-simplify]: Simplify (+ 0) into 0
12.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.504 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.505 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.505 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.505 * [backup-simplify]: Simplify (+ 0 0) into 0
12.506 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
12.506 * [backup-simplify]: Simplify (+ 0) into 0
12.506 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
12.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
12.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.507 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
12.507 * [backup-simplify]: Simplify (- 0) into 0
12.508 * [backup-simplify]: Simplify (+ 0 0) into 0
12.508 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
12.508 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
12.509 * [backup-simplify]: Simplify (- 0) into 0
12.509 * [backup-simplify]: Simplify (+ 0 0) into 0
12.512 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.514 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
12.514 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1
12.514 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
12.514 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
12.514 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
12.514 * [taylor]: Taking taylor expansion of 0.5 in lambda1
12.514 * [backup-simplify]: Simplify 0.5 into 0.5
12.514 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
12.514 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
12.514 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.514 * [backup-simplify]: Simplify phi1 into phi1
12.515 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.515 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
12.515 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.515 * [backup-simplify]: Simplify phi2 into phi2
12.515 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.515 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
12.515 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
12.515 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.515 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.516 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.516 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
12.516 * [backup-simplify]: Simplify (- 0) into 0
12.516 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.517 * [taylor]: Taking taylor expansion of lambda1 in lambda1
12.517 * [backup-simplify]: Simplify 0 into 0
12.517 * [backup-simplify]: Simplify 1 into 1
12.517 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.517 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.518 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
12.519 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
12.520 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
12.520 * [taylor]: Taking taylor expansion of 0 in lambda1
12.520 * [backup-simplify]: Simplify 0 into 0
12.520 * [taylor]: Taking taylor expansion of 0 in lambda1
12.520 * [backup-simplify]: Simplify 0 into 0
12.521 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
12.522 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
12.528 * [backup-simplify]: Simplify (+ (* (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2))))))))))) (* 1 (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (/ 1 lambda2))))) (+ (* (* -1 (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))))))) (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1)))) (* (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda1)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (pow (/ 1 lambda2) 2))))))) into (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))) (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))))))
12.530 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 (- lambda2)) 2) (pow (- (* (cos (* 0.5 (/ 1 (- phi2)))) (cos (* 0.5 (/ 1 (- phi1))))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (pow (/ 1 (- lambda1)) 2))) (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))
12.530 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in (lambda2 phi2 phi1 lambda1) around 0
12.530 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda1
12.530 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda1
12.531 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda1
12.531 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
12.531 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
12.531 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.531 * [backup-simplify]: Simplify phi2 into phi2
12.531 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
12.531 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
12.531 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1
12.531 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
12.531 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
12.531 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
12.531 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
12.531 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.531 * [backup-simplify]: Simplify -0.5 into -0.5
12.531 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
12.531 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
12.531 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.531 * [backup-simplify]: Simplify phi1 into phi1
12.531 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.531 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
12.531 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.531 * [backup-simplify]: Simplify phi2 into phi2
12.531 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.531 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
12.531 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
12.531 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.531 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.532 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.532 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
12.532 * [backup-simplify]: Simplify (- 0) into 0
12.532 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.532 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
12.532 * [taylor]: Taking taylor expansion of lambda1 in lambda1
12.532 * [backup-simplify]: Simplify 0 into 0
12.532 * [backup-simplify]: Simplify 1 into 1
12.533 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.533 * [backup-simplify]: Simplify (* 1 1) into 1
12.533 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.533 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1
12.533 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
12.533 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
12.533 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.533 * [backup-simplify]: Simplify phi1 into phi1
12.533 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
12.533 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
12.533 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1
12.533 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1
12.533 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
12.533 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
12.533 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
12.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
12.533 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.533 * [backup-simplify]: Simplify -0.5 into -0.5
12.533 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.533 * [backup-simplify]: Simplify phi2 into phi2
12.534 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.534 * [backup-simplify]: Simplify (- 0) into 0
12.534 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.534 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
12.534 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
12.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
12.534 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.534 * [backup-simplify]: Simplify -0.5 into -0.5
12.534 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.534 * [backup-simplify]: Simplify phi1 into phi1
12.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.535 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.535 * [backup-simplify]: Simplify (- 0) into 0
12.535 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.535 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
12.535 * [taylor]: Taking taylor expansion of lambda2 in lambda1
12.535 * [backup-simplify]: Simplify lambda2 into lambda2
12.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
12.535 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
12.535 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.535 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.536 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
12.536 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1
12.536 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
12.536 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
12.536 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
12.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
12.536 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.536 * [backup-simplify]: Simplify -0.5 into -0.5
12.536 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.536 * [backup-simplify]: Simplify phi2 into phi2
12.536 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.536 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.536 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
12.536 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
12.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
12.536 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.536 * [backup-simplify]: Simplify -0.5 into -0.5
12.536 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.536 * [backup-simplify]: Simplify phi1 into phi1
12.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.537 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.537 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
12.537 * [taylor]: Taking taylor expansion of lambda2 in lambda1
12.537 * [backup-simplify]: Simplify lambda2 into lambda2
12.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
12.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
12.537 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.537 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.537 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
12.537 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1
12.538 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1
12.538 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1
12.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
12.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
12.538 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.538 * [backup-simplify]: Simplify -0.5 into -0.5
12.538 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.538 * [backup-simplify]: Simplify phi2 into phi2
12.538 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.538 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1
12.538 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
12.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
12.538 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.538 * [backup-simplify]: Simplify -0.5 into -0.5
12.538 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.538 * [backup-simplify]: Simplify phi2 into phi2
12.538 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.538 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1
12.538 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
12.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
12.538 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.538 * [backup-simplify]: Simplify -0.5 into -0.5
12.538 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.538 * [backup-simplify]: Simplify phi1 into phi1
12.538 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
12.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
12.538 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.538 * [backup-simplify]: Simplify -0.5 into -0.5
12.538 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.538 * [backup-simplify]: Simplify phi1 into phi1
12.538 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.539 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.539 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
12.539 * [taylor]: Taking taylor expansion of lambda2 in lambda1
12.539 * [backup-simplify]: Simplify lambda2 into lambda2
12.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.539 * [backup-simplify]: Simplify (- 0) into 0
12.539 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.539 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.540 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.540 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.540 * [backup-simplify]: Simplify (- 0) into 0
12.540 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
12.540 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
12.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
12.541 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.541 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
12.541 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1
12.541 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
12.541 * [taylor]: Taking taylor expansion of 2 in lambda1
12.541 * [backup-simplify]: Simplify 2 into 2
12.541 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
12.541 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
12.541 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.541 * [backup-simplify]: Simplify phi2 into phi2
12.541 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.541 * [backup-simplify]: Simplify phi1 into phi1
12.541 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
12.541 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
12.541 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1
12.541 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1
12.541 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1
12.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
12.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
12.541 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.541 * [backup-simplify]: Simplify -0.5 into -0.5
12.541 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.541 * [backup-simplify]: Simplify phi2 into phi2
12.541 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.541 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1
12.542 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
12.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
12.542 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.542 * [backup-simplify]: Simplify -0.5 into -0.5
12.542 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.542 * [backup-simplify]: Simplify phi2 into phi2
12.542 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.542 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1
12.542 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
12.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
12.542 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.542 * [backup-simplify]: Simplify -0.5 into -0.5
12.542 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.542 * [backup-simplify]: Simplify phi1 into phi1
12.542 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.542 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
12.542 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
12.542 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.542 * [backup-simplify]: Simplify -0.5 into -0.5
12.542 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.542 * [backup-simplify]: Simplify phi1 into phi1
12.542 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.542 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.542 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.542 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
12.542 * [taylor]: Taking taylor expansion of lambda2 in lambda1
12.542 * [backup-simplify]: Simplify lambda2 into lambda2
12.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.543 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.543 * [backup-simplify]: Simplify (- 0) into 0
12.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.543 * [backup-simplify]: Simplify (- 0) into 0
12.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.544 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
12.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
12.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
12.544 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.544 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
12.545 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
12.545 * [taylor]: Taking taylor expansion of 2 in lambda1
12.545 * [backup-simplify]: Simplify 2 into 2
12.545 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
12.545 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
12.545 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
12.545 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
12.545 * [taylor]: Taking taylor expansion of -0.5 in lambda1
12.545 * [backup-simplify]: Simplify -0.5 into -0.5
12.545 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
12.545 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
12.545 * [taylor]: Taking taylor expansion of phi1 in lambda1
12.545 * [backup-simplify]: Simplify phi1 into phi1
12.545 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.545 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
12.545 * [taylor]: Taking taylor expansion of phi2 in lambda1
12.545 * [backup-simplify]: Simplify phi2 into phi2
12.545 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.545 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
12.545 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
12.546 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.546 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.546 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.546 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
12.547 * [backup-simplify]: Simplify (- 0) into 0
12.547 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.547 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
12.547 * [taylor]: Taking taylor expansion of lambda2 in lambda1
12.547 * [backup-simplify]: Simplify lambda2 into lambda2
12.547 * [taylor]: Taking taylor expansion of lambda1 in lambda1
12.547 * [backup-simplify]: Simplify 0 into 0
12.547 * [backup-simplify]: Simplify 1 into 1
12.547 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.547 * [backup-simplify]: Simplify (* lambda2 0) into 0
12.548 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
12.548 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
12.549 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.549 * [backup-simplify]: Simplify (+ 0 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.549 * [backup-simplify]: Simplify (+ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 0) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.550 * [backup-simplify]: Simplify (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.550 * [backup-simplify]: Simplify (+ 0) into 0
12.551 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
12.551 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
12.551 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
12.552 * [backup-simplify]: Simplify (+ 0 0) into 0
12.552 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
12.553 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.554 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
12.554 * [backup-simplify]: Simplify (- 0) into 0
12.555 * [backup-simplify]: Simplify (+ 0 0) into 0
12.555 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
12.556 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.557 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (/ 0 1)))) into 0
12.557 * [backup-simplify]: Simplify (+ 0 0) into 0
12.558 * [backup-simplify]: Simplify (+ 0 0) into 0
12.558 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
12.559 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
12.559 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
12.560 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
12.560 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
12.561 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
12.561 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))) into (* -1 (/ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) lambda2))
12.562 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi1
12.562 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi1
12.562 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi1
12.562 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
12.562 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
12.562 * [taylor]: Taking taylor expansion of phi2 in phi1
12.562 * [backup-simplify]: Simplify phi2 into phi2
12.562 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
12.562 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
12.562 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1
12.562 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
12.562 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
12.562 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
12.562 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
12.562 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.562 * [backup-simplify]: Simplify -0.5 into -0.5
12.562 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
12.562 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
12.562 * [taylor]: Taking taylor expansion of phi1 in phi1
12.562 * [backup-simplify]: Simplify 0 into 0
12.562 * [backup-simplify]: Simplify 1 into 1
12.563 * [backup-simplify]: Simplify (/ 1 1) into 1
12.563 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
12.563 * [taylor]: Taking taylor expansion of phi2 in phi1
12.563 * [backup-simplify]: Simplify phi2 into phi2
12.563 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.564 * [backup-simplify]: Simplify (+ 1 0) into 1
12.564 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
12.564 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.564 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
12.564 * [taylor]: Taking taylor expansion of lambda1 in phi1
12.564 * [backup-simplify]: Simplify lambda1 into lambda1
12.565 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.565 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
12.565 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
12.565 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1
12.565 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
12.565 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
12.565 * [taylor]: Taking taylor expansion of phi1 in phi1
12.565 * [backup-simplify]: Simplify 0 into 0
12.565 * [backup-simplify]: Simplify 1 into 1
12.566 * [backup-simplify]: Simplify (* 1 1) into 1
12.566 * [backup-simplify]: Simplify (/ 1 1) into 1
12.566 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1
12.566 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1
12.566 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
12.566 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
12.566 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
12.566 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.566 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.567 * [backup-simplify]: Simplify -0.5 into -0.5
12.567 * [taylor]: Taking taylor expansion of phi2 in phi1
12.567 * [backup-simplify]: Simplify phi2 into phi2
12.567 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.567 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.567 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.567 * [backup-simplify]: Simplify (- 0) into 0
12.568 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.568 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
12.568 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
12.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.568 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.568 * [backup-simplify]: Simplify -0.5 into -0.5
12.568 * [taylor]: Taking taylor expansion of phi1 in phi1
12.568 * [backup-simplify]: Simplify 0 into 0
12.568 * [backup-simplify]: Simplify 1 into 1
12.568 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.568 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
12.568 * [taylor]: Taking taylor expansion of lambda2 in phi1
12.569 * [backup-simplify]: Simplify lambda2 into lambda2
12.569 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
12.569 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
12.569 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.569 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.570 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
12.570 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1
12.570 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
12.570 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
12.570 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
12.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.570 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.570 * [backup-simplify]: Simplify -0.5 into -0.5
12.570 * [taylor]: Taking taylor expansion of phi2 in phi1
12.570 * [backup-simplify]: Simplify phi2 into phi2
12.570 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.571 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.571 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.571 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.571 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.571 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
12.571 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
12.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.571 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.571 * [backup-simplify]: Simplify -0.5 into -0.5
12.571 * [taylor]: Taking taylor expansion of phi1 in phi1
12.571 * [backup-simplify]: Simplify 0 into 0
12.571 * [backup-simplify]: Simplify 1 into 1
12.572 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.572 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
12.572 * [taylor]: Taking taylor expansion of lambda2 in phi1
12.572 * [backup-simplify]: Simplify lambda2 into lambda2
12.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
12.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
12.573 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.573 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.573 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
12.573 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1
12.573 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi1
12.573 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi1
12.573 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
12.573 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.573 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.573 * [backup-simplify]: Simplify -0.5 into -0.5
12.573 * [taylor]: Taking taylor expansion of phi2 in phi1
12.574 * [backup-simplify]: Simplify phi2 into phi2
12.574 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.574 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.574 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.574 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi1
12.574 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
12.574 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.574 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.574 * [backup-simplify]: Simplify -0.5 into -0.5
12.574 * [taylor]: Taking taylor expansion of phi2 in phi1
12.574 * [backup-simplify]: Simplify phi2 into phi2
12.574 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.574 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.574 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.574 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi1
12.574 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
12.574 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.574 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.574 * [backup-simplify]: Simplify -0.5 into -0.5
12.574 * [taylor]: Taking taylor expansion of phi1 in phi1
12.574 * [backup-simplify]: Simplify 0 into 0
12.574 * [backup-simplify]: Simplify 1 into 1
12.575 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.575 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.575 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
12.575 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.575 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.575 * [backup-simplify]: Simplify -0.5 into -0.5
12.575 * [taylor]: Taking taylor expansion of phi1 in phi1
12.575 * [backup-simplify]: Simplify 0 into 0
12.575 * [backup-simplify]: Simplify 1 into 1
12.576 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.576 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.576 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
12.576 * [taylor]: Taking taylor expansion of lambda2 in phi1
12.576 * [backup-simplify]: Simplify lambda2 into lambda2
12.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.577 * [backup-simplify]: Simplify (- 0) into 0
12.577 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.577 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.577 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
12.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
12.578 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
12.578 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.578 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
12.578 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1
12.579 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
12.579 * [taylor]: Taking taylor expansion of 2 in phi1
12.579 * [backup-simplify]: Simplify 2 into 2
12.579 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
12.579 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
12.579 * [taylor]: Taking taylor expansion of phi2 in phi1
12.579 * [backup-simplify]: Simplify phi2 into phi2
12.579 * [taylor]: Taking taylor expansion of phi1 in phi1
12.579 * [backup-simplify]: Simplify 0 into 0
12.579 * [backup-simplify]: Simplify 1 into 1
12.579 * [backup-simplify]: Simplify (* phi2 0) into 0
12.579 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
12.579 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.579 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1
12.579 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1
12.579 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
12.580 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
12.580 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.580 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.580 * [backup-simplify]: Simplify -0.5 into -0.5
12.580 * [taylor]: Taking taylor expansion of phi2 in phi1
12.580 * [backup-simplify]: Simplify phi2 into phi2
12.580 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.580 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.580 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.580 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
12.580 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
12.580 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.580 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.580 * [backup-simplify]: Simplify -0.5 into -0.5
12.580 * [taylor]: Taking taylor expansion of phi2 in phi1
12.580 * [backup-simplify]: Simplify phi2 into phi2
12.580 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.580 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.580 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.580 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
12.580 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
12.580 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.580 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.581 * [backup-simplify]: Simplify -0.5 into -0.5
12.581 * [taylor]: Taking taylor expansion of phi1 in phi1
12.581 * [backup-simplify]: Simplify 0 into 0
12.581 * [backup-simplify]: Simplify 1 into 1
12.581 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.581 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.581 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
12.581 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.581 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.581 * [backup-simplify]: Simplify -0.5 into -0.5
12.581 * [taylor]: Taking taylor expansion of phi1 in phi1
12.581 * [backup-simplify]: Simplify 0 into 0
12.581 * [backup-simplify]: Simplify 1 into 1
12.582 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.582 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.582 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
12.582 * [taylor]: Taking taylor expansion of lambda2 in phi1
12.582 * [backup-simplify]: Simplify lambda2 into lambda2
12.582 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.582 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.582 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.583 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.583 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.583 * [backup-simplify]: Simplify (- 0) into 0
12.583 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.584 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
12.584 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
12.584 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
12.584 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.585 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
12.585 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
12.585 * [taylor]: Taking taylor expansion of 2 in phi1
12.585 * [backup-simplify]: Simplify 2 into 2
12.585 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
12.585 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
12.585 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
12.585 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
12.585 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.585 * [backup-simplify]: Simplify -0.5 into -0.5
12.585 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
12.585 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
12.585 * [taylor]: Taking taylor expansion of phi1 in phi1
12.585 * [backup-simplify]: Simplify 0 into 0
12.585 * [backup-simplify]: Simplify 1 into 1
12.586 * [backup-simplify]: Simplify (/ 1 1) into 1
12.586 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
12.586 * [taylor]: Taking taylor expansion of phi2 in phi1
12.586 * [backup-simplify]: Simplify phi2 into phi2
12.586 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.586 * [backup-simplify]: Simplify (+ 1 0) into 1
12.587 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
12.587 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.587 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
12.587 * [taylor]: Taking taylor expansion of lambda2 in phi1
12.587 * [backup-simplify]: Simplify lambda2 into lambda2
12.587 * [taylor]: Taking taylor expansion of lambda1 in phi1
12.587 * [backup-simplify]: Simplify lambda1 into lambda1
12.587 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.587 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
12.588 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
12.588 * [backup-simplify]: Simplify (+ 1 0) into 1
12.589 * [backup-simplify]: Simplify (+ 0 1) into 1
12.589 * [backup-simplify]: Simplify (+ 0 1) into 1
12.590 * [backup-simplify]: Simplify (+ 1 0) into 1
12.590 * [backup-simplify]: Simplify (sqrt 1) into 1
12.591 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.591 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
12.592 * [backup-simplify]: Simplify (+ 0 0) into 0
12.592 * [backup-simplify]: Simplify (+ 0 0) into 0
12.593 * [backup-simplify]: Simplify (+ 0 0) into 0
12.593 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
12.593 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2))
12.593 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2))
12.593 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2)))
12.593 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
12.594 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
12.594 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi2
12.594 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi2
12.594 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2
12.594 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
12.594 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
12.594 * [taylor]: Taking taylor expansion of phi2 in phi2
12.594 * [backup-simplify]: Simplify 0 into 0
12.594 * [backup-simplify]: Simplify 1 into 1
12.594 * [backup-simplify]: Simplify (* 1 1) into 1
12.595 * [backup-simplify]: Simplify (/ 1 1) into 1
12.595 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2
12.595 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
12.595 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
12.595 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
12.595 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
12.595 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.595 * [backup-simplify]: Simplify -0.5 into -0.5
12.595 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
12.595 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
12.595 * [taylor]: Taking taylor expansion of phi1 in phi2
12.595 * [backup-simplify]: Simplify phi1 into phi1
12.595 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.595 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
12.595 * [taylor]: Taking taylor expansion of phi2 in phi2
12.595 * [backup-simplify]: Simplify 0 into 0
12.595 * [backup-simplify]: Simplify 1 into 1
12.596 * [backup-simplify]: Simplify (/ 1 1) into 1
12.596 * [backup-simplify]: Simplify (+ 0 1) into 1
12.597 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
12.597 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.597 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
12.597 * [taylor]: Taking taylor expansion of lambda1 in phi2
12.597 * [backup-simplify]: Simplify lambda1 into lambda1
12.597 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.597 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
12.598 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
12.598 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2
12.598 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
12.598 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
12.598 * [taylor]: Taking taylor expansion of phi1 in phi2
12.598 * [backup-simplify]: Simplify phi1 into phi1
12.598 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
12.598 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
12.598 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2
12.598 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2
12.598 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
12.599 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
12.599 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.599 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.599 * [backup-simplify]: Simplify -0.5 into -0.5
12.599 * [taylor]: Taking taylor expansion of phi2 in phi2
12.599 * [backup-simplify]: Simplify 0 into 0
12.599 * [backup-simplify]: Simplify 1 into 1
12.599 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.599 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.599 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
12.599 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.599 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.599 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.599 * [backup-simplify]: Simplify -0.5 into -0.5
12.599 * [taylor]: Taking taylor expansion of phi1 in phi2
12.600 * [backup-simplify]: Simplify phi1 into phi1
12.600 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.600 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.600 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.600 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.600 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.600 * [backup-simplify]: Simplify (- 0) into 0
12.601 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.601 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
12.601 * [taylor]: Taking taylor expansion of lambda2 in phi2
12.601 * [backup-simplify]: Simplify lambda2 into lambda2
12.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
12.601 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
12.601 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.601 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.602 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
12.602 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2
12.602 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
12.602 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
12.602 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.602 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.602 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.602 * [backup-simplify]: Simplify -0.5 into -0.5
12.602 * [taylor]: Taking taylor expansion of phi2 in phi2
12.602 * [backup-simplify]: Simplify 0 into 0
12.602 * [backup-simplify]: Simplify 1 into 1
12.603 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.603 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.603 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
12.603 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.603 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.603 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.603 * [backup-simplify]: Simplify -0.5 into -0.5
12.603 * [taylor]: Taking taylor expansion of phi1 in phi2
12.603 * [backup-simplify]: Simplify phi1 into phi1
12.603 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.603 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.603 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.604 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.604 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.604 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.604 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
12.604 * [taylor]: Taking taylor expansion of lambda2 in phi2
12.604 * [backup-simplify]: Simplify lambda2 into lambda2
12.604 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
12.604 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
12.605 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.605 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.605 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
12.605 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2
12.605 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi2
12.605 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
12.605 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.605 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.605 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.605 * [backup-simplify]: Simplify -0.5 into -0.5
12.605 * [taylor]: Taking taylor expansion of phi2 in phi2
12.605 * [backup-simplify]: Simplify 0 into 0
12.606 * [backup-simplify]: Simplify 1 into 1
12.606 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.606 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.606 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
12.606 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.606 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.606 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.606 * [backup-simplify]: Simplify -0.5 into -0.5
12.606 * [taylor]: Taking taylor expansion of phi2 in phi2
12.606 * [backup-simplify]: Simplify 0 into 0
12.606 * [backup-simplify]: Simplify 1 into 1
12.607 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.607 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
12.607 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.607 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.607 * [backup-simplify]: Simplify -0.5 into -0.5
12.607 * [taylor]: Taking taylor expansion of phi1 in phi2
12.607 * [backup-simplify]: Simplify phi1 into phi1
12.607 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.607 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.607 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.607 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.607 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.607 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.608 * [backup-simplify]: Simplify -0.5 into -0.5
12.608 * [taylor]: Taking taylor expansion of phi1 in phi2
12.608 * [backup-simplify]: Simplify phi1 into phi1
12.608 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.608 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.608 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.608 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
12.608 * [taylor]: Taking taylor expansion of lambda2 in phi2
12.608 * [backup-simplify]: Simplify lambda2 into lambda2
12.608 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.608 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.608 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.608 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.609 * [backup-simplify]: Simplify (- 0) into 0
12.609 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
12.609 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
12.610 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
12.610 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.610 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
12.610 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2
12.611 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
12.611 * [taylor]: Taking taylor expansion of 2 in phi2
12.611 * [backup-simplify]: Simplify 2 into 2
12.611 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
12.611 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
12.611 * [taylor]: Taking taylor expansion of phi2 in phi2
12.611 * [backup-simplify]: Simplify 0 into 0
12.611 * [backup-simplify]: Simplify 1 into 1
12.611 * [taylor]: Taking taylor expansion of phi1 in phi2
12.611 * [backup-simplify]: Simplify phi1 into phi1
12.611 * [backup-simplify]: Simplify (* 0 phi1) into 0
12.611 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
12.611 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.611 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2
12.611 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi2
12.611 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
12.612 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.612 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.612 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.612 * [backup-simplify]: Simplify -0.5 into -0.5
12.612 * [taylor]: Taking taylor expansion of phi2 in phi2
12.612 * [backup-simplify]: Simplify 0 into 0
12.612 * [backup-simplify]: Simplify 1 into 1
12.612 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.612 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.612 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
12.612 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.612 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.612 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.612 * [backup-simplify]: Simplify -0.5 into -0.5
12.612 * [taylor]: Taking taylor expansion of phi2 in phi2
12.612 * [backup-simplify]: Simplify 0 into 0
12.612 * [backup-simplify]: Simplify 1 into 1
12.613 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.613 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.613 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
12.613 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.613 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.613 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.613 * [backup-simplify]: Simplify -0.5 into -0.5
12.613 * [taylor]: Taking taylor expansion of phi1 in phi2
12.613 * [backup-simplify]: Simplify phi1 into phi1
12.613 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.613 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.614 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.614 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.614 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.614 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.614 * [backup-simplify]: Simplify -0.5 into -0.5
12.614 * [taylor]: Taking taylor expansion of phi1 in phi2
12.614 * [backup-simplify]: Simplify phi1 into phi1
12.614 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.614 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.614 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.614 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
12.614 * [taylor]: Taking taylor expansion of lambda2 in phi2
12.614 * [backup-simplify]: Simplify lambda2 into lambda2
12.614 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.614 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.615 * [backup-simplify]: Simplify (- 0) into 0
12.615 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.615 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
12.616 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
12.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
12.616 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
12.617 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
12.617 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
12.617 * [taylor]: Taking taylor expansion of 2 in phi2
12.617 * [backup-simplify]: Simplify 2 into 2
12.617 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
12.617 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
12.617 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
12.617 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
12.617 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.617 * [backup-simplify]: Simplify -0.5 into -0.5
12.617 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
12.617 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
12.617 * [taylor]: Taking taylor expansion of phi1 in phi2
12.617 * [backup-simplify]: Simplify phi1 into phi1
12.617 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.617 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
12.617 * [taylor]: Taking taylor expansion of phi2 in phi2
12.617 * [backup-simplify]: Simplify 0 into 0
12.617 * [backup-simplify]: Simplify 1 into 1
12.618 * [backup-simplify]: Simplify (/ 1 1) into 1
12.618 * [backup-simplify]: Simplify (+ 0 1) into 1
12.619 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
12.619 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.619 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
12.619 * [taylor]: Taking taylor expansion of lambda2 in phi2
12.619 * [backup-simplify]: Simplify lambda2 into lambda2
12.619 * [taylor]: Taking taylor expansion of lambda1 in phi2
12.619 * [backup-simplify]: Simplify lambda1 into lambda1
12.619 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.619 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
12.620 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
12.621 * [backup-simplify]: Simplify (+ 1 0) into 1
12.621 * [backup-simplify]: Simplify (+ 1 0) into 1
12.621 * [backup-simplify]: Simplify (sqrt 1) into 1
12.622 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.623 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
12.623 * [backup-simplify]: Simplify (+ 0 0) into 0
12.623 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
12.623 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1))
12.623 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1))
12.624 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
12.624 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
12.624 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
12.624 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda2
12.624 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2
12.625 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2
12.625 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
12.625 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
12.625 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.625 * [backup-simplify]: Simplify phi2 into phi2
12.625 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
12.625 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
12.625 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2
12.625 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
12.625 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
12.625 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
12.625 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
12.625 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.625 * [backup-simplify]: Simplify -0.5 into -0.5
12.625 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
12.625 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
12.625 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.625 * [backup-simplify]: Simplify phi1 into phi1
12.625 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.625 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
12.625 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.625 * [backup-simplify]: Simplify phi2 into phi2
12.625 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.626 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
12.626 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
12.626 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.626 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.626 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.626 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
12.627 * [backup-simplify]: Simplify (- 0) into 0
12.627 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.627 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
12.627 * [taylor]: Taking taylor expansion of lambda1 in lambda2
12.627 * [backup-simplify]: Simplify lambda1 into lambda1
12.628 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.628 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
12.628 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
12.628 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2
12.628 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
12.628 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
12.628 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.628 * [backup-simplify]: Simplify phi1 into phi1
12.628 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
12.628 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
12.628 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2
12.629 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
12.629 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
12.629 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
12.629 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
12.629 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.629 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.629 * [backup-simplify]: Simplify -0.5 into -0.5
12.629 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.629 * [backup-simplify]: Simplify phi2 into phi2
12.629 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.629 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.629 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.629 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.629 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.630 * [backup-simplify]: Simplify (- 0) into 0
12.630 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.630 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
12.630 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
12.630 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.630 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.630 * [backup-simplify]: Simplify -0.5 into -0.5
12.630 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.630 * [backup-simplify]: Simplify phi1 into phi1
12.630 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.630 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.630 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.630 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.631 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.631 * [backup-simplify]: Simplify (- 0) into 0
12.631 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.631 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
12.631 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.631 * [backup-simplify]: Simplify 0 into 0
12.631 * [backup-simplify]: Simplify 1 into 1
12.631 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
12.632 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
12.632 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.632 * [backup-simplify]: Simplify (* 1 1) into 1
12.633 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.633 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
12.633 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
12.633 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
12.633 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
12.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.633 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.633 * [backup-simplify]: Simplify -0.5 into -0.5
12.633 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.633 * [backup-simplify]: Simplify phi2 into phi2
12.633 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.633 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.634 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.634 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
12.634 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
12.634 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.634 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.634 * [backup-simplify]: Simplify -0.5 into -0.5
12.634 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.634 * [backup-simplify]: Simplify phi1 into phi1
12.634 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.634 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.635 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.635 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
12.635 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.635 * [backup-simplify]: Simplify 0 into 0
12.635 * [backup-simplify]: Simplify 1 into 1
12.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
12.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
12.636 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.636 * [backup-simplify]: Simplify (* 1 1) into 1
12.636 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.637 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2
12.637 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
12.637 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2
12.637 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
12.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.637 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.637 * [backup-simplify]: Simplify -0.5 into -0.5
12.637 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.637 * [backup-simplify]: Simplify phi2 into phi2
12.637 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.637 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.637 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2
12.637 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
12.637 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.637 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.637 * [backup-simplify]: Simplify -0.5 into -0.5
12.637 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.637 * [backup-simplify]: Simplify phi2 into phi2
12.637 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.637 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.638 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2
12.638 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
12.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.638 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.638 * [backup-simplify]: Simplify -0.5 into -0.5
12.638 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.638 * [backup-simplify]: Simplify phi1 into phi1
12.638 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
12.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.638 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.638 * [backup-simplify]: Simplify -0.5 into -0.5
12.638 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.638 * [backup-simplify]: Simplify phi1 into phi1
12.638 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.638 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.638 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
12.639 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.639 * [backup-simplify]: Simplify 0 into 0
12.639 * [backup-simplify]: Simplify 1 into 1
12.639 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.639 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.639 * [backup-simplify]: Simplify (- 0) into 0
12.639 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.640 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.640 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.640 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.640 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.641 * [backup-simplify]: Simplify (- 0) into 0
12.641 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
12.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
12.642 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
12.642 * [backup-simplify]: Simplify (* 1 1) into 1
12.642 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
12.643 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2
12.643 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
12.643 * [taylor]: Taking taylor expansion of 2 in lambda2
12.643 * [backup-simplify]: Simplify 2 into 2
12.643 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
12.643 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
12.643 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.643 * [backup-simplify]: Simplify phi2 into phi2
12.643 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.643 * [backup-simplify]: Simplify phi1 into phi1
12.643 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
12.643 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
12.643 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2
12.643 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
12.643 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
12.643 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
12.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.643 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.643 * [backup-simplify]: Simplify -0.5 into -0.5
12.643 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.643 * [backup-simplify]: Simplify phi2 into phi2
12.643 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.643 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
12.643 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
12.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.644 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.644 * [backup-simplify]: Simplify -0.5 into -0.5
12.644 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.644 * [backup-simplify]: Simplify phi2 into phi2
12.644 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.644 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.644 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.644 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
12.644 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
12.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.644 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.644 * [backup-simplify]: Simplify -0.5 into -0.5
12.644 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.644 * [backup-simplify]: Simplify phi1 into phi1
12.644 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.644 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.644 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.644 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
12.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.644 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.644 * [backup-simplify]: Simplify -0.5 into -0.5
12.644 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.644 * [backup-simplify]: Simplify phi1 into phi1
12.644 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.645 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.645 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
12.645 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.645 * [backup-simplify]: Simplify 0 into 0
12.645 * [backup-simplify]: Simplify 1 into 1
12.645 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.645 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.645 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.645 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.645 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.646 * [backup-simplify]: Simplify (- 0) into 0
12.646 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.646 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.646 * [backup-simplify]: Simplify (- 0) into 0
12.647 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.647 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.647 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
12.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
12.648 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
12.648 * [backup-simplify]: Simplify (* 1 1) into 1
12.649 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
12.649 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
12.649 * [taylor]: Taking taylor expansion of 2 in lambda2
12.649 * [backup-simplify]: Simplify 2 into 2
12.649 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
12.649 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
12.649 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
12.649 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
12.649 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.649 * [backup-simplify]: Simplify -0.5 into -0.5
12.649 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
12.649 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
12.649 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.649 * [backup-simplify]: Simplify phi1 into phi1
12.649 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.649 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
12.649 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.649 * [backup-simplify]: Simplify phi2 into phi2
12.649 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.649 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
12.649 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
12.650 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.650 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.650 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.650 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
12.656 * [backup-simplify]: Simplify (- 0) into 0
12.656 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.657 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
12.657 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.657 * [backup-simplify]: Simplify 0 into 0
12.657 * [backup-simplify]: Simplify 1 into 1
12.657 * [taylor]: Taking taylor expansion of lambda1 in lambda2
12.657 * [backup-simplify]: Simplify lambda1 into lambda1
12.657 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.657 * [backup-simplify]: Simplify (* 0 lambda1) into 0
12.658 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
12.658 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
12.659 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.660 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.661 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.662 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.663 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
12.663 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
12.664 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))
12.665 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
12.667 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
12.669 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))
12.669 * [backup-simplify]: Simplify (+ 0) into 0
12.670 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.670 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.671 * [backup-simplify]: Simplify (- 0) into 0
12.671 * [backup-simplify]: Simplify (+ 0 0) into 0
12.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.672 * [backup-simplify]: Simplify (+ 0) into 0
12.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.672 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.673 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.673 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.673 * [backup-simplify]: Simplify (- 0) into 0
12.673 * [backup-simplify]: Simplify (+ 0 0) into 0
12.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
12.674 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
12.674 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.675 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
12.675 * [backup-simplify]: Simplify (+ 0) into 0
12.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.676 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.676 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.677 * [backup-simplify]: Simplify (+ 0 0) into 0
12.677 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.677 * [backup-simplify]: Simplify (+ 0) into 0
12.677 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.678 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.678 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.678 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.678 * [backup-simplify]: Simplify (+ 0 0) into 0
12.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
12.679 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
12.679 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.680 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
12.680 * [backup-simplify]: Simplify (+ 0 0) into 0
12.680 * [backup-simplify]: Simplify (+ 0 0) into 0
12.681 * [backup-simplify]: Simplify (+ 0 0) into 0
12.681 * [backup-simplify]: Simplify (+ 0 0) into 0
12.681 * [backup-simplify]: Simplify (+ 0) into 0
12.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.682 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.683 * [backup-simplify]: Simplify (- 0) into 0
12.683 * [backup-simplify]: Simplify (+ 0 0) into 0
12.683 * [backup-simplify]: Simplify (+ 0) into 0
12.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.683 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.684 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.684 * [backup-simplify]: Simplify (+ 0 0) into 0
12.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.685 * [backup-simplify]: Simplify (+ 0) into 0
12.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.685 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.686 * [backup-simplify]: Simplify (+ 0 0) into 0
12.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
12.687 * [backup-simplify]: Simplify (+ 0) into 0
12.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.688 * [backup-simplify]: Simplify (- 0) into 0
12.688 * [backup-simplify]: Simplify (+ 0 0) into 0
12.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
12.689 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.690 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0
12.690 * [backup-simplify]: Simplify (+ 0) into 0
12.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.690 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.691 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.691 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.692 * [backup-simplify]: Simplify (+ 0 0) into 0
12.692 * [backup-simplify]: Simplify (+ 0) into 0
12.692 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.692 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.693 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.693 * [backup-simplify]: Simplify (- 0) into 0
12.694 * [backup-simplify]: Simplify (+ 0 0) into 0
12.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.694 * [backup-simplify]: Simplify (+ 0) into 0
12.694 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.694 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.695 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.695 * [backup-simplify]: Simplify (- 0) into 0
12.696 * [backup-simplify]: Simplify (+ 0 0) into 0
12.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
12.696 * [backup-simplify]: Simplify (+ 0) into 0
12.696 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.696 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.697 * [backup-simplify]: Simplify (+ 0 0) into 0
12.698 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
12.698 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.699 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0
12.699 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.699 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.700 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.700 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.701 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
12.701 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
12.704 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
12.704 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda2
12.704 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2
12.704 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2
12.704 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
12.704 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
12.704 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.704 * [backup-simplify]: Simplify phi2 into phi2
12.704 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
12.705 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
12.705 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2
12.705 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
12.705 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
12.705 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
12.705 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
12.705 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.705 * [backup-simplify]: Simplify -0.5 into -0.5
12.705 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
12.705 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
12.705 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.705 * [backup-simplify]: Simplify phi1 into phi1
12.705 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.705 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
12.705 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.705 * [backup-simplify]: Simplify phi2 into phi2
12.706 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.706 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
12.706 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
12.706 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.706 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.706 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.707 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
12.707 * [backup-simplify]: Simplify (- 0) into 0
12.707 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.707 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
12.708 * [taylor]: Taking taylor expansion of lambda1 in lambda2
12.708 * [backup-simplify]: Simplify lambda1 into lambda1
12.708 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.708 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
12.708 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
12.708 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2
12.708 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
12.709 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
12.709 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.709 * [backup-simplify]: Simplify phi1 into phi1
12.709 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
12.709 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
12.709 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2
12.709 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
12.709 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
12.709 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
12.709 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
12.709 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.709 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.709 * [backup-simplify]: Simplify -0.5 into -0.5
12.709 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.709 * [backup-simplify]: Simplify phi2 into phi2
12.709 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.709 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.709 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.710 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.710 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.710 * [backup-simplify]: Simplify (- 0) into 0
12.710 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.710 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
12.710 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
12.710 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.710 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.710 * [backup-simplify]: Simplify -0.5 into -0.5
12.711 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.711 * [backup-simplify]: Simplify phi1 into phi1
12.711 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.711 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.711 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.711 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.711 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.711 * [backup-simplify]: Simplify (- 0) into 0
12.712 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.712 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
12.712 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.712 * [backup-simplify]: Simplify 0 into 0
12.712 * [backup-simplify]: Simplify 1 into 1
12.712 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
12.712 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
12.712 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.713 * [backup-simplify]: Simplify (* 1 1) into 1
12.713 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.713 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
12.713 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
12.713 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
12.713 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
12.713 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.713 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.713 * [backup-simplify]: Simplify -0.5 into -0.5
12.713 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.713 * [backup-simplify]: Simplify phi2 into phi2
12.714 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.714 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.714 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.714 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.714 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.714 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.714 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
12.714 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
12.714 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.714 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.714 * [backup-simplify]: Simplify -0.5 into -0.5
12.714 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.714 * [backup-simplify]: Simplify phi1 into phi1
12.714 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.714 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.715 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.715 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.715 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.715 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
12.715 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.715 * [backup-simplify]: Simplify 0 into 0
12.715 * [backup-simplify]: Simplify 1 into 1
12.715 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
12.715 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
12.716 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.716 * [backup-simplify]: Simplify (* 1 1) into 1
12.716 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.717 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2
12.717 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
12.717 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2
12.717 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
12.717 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.717 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.717 * [backup-simplify]: Simplify -0.5 into -0.5
12.717 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.717 * [backup-simplify]: Simplify phi2 into phi2
12.717 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.717 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.717 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.717 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2
12.717 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
12.717 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.717 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.717 * [backup-simplify]: Simplify -0.5 into -0.5
12.717 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.717 * [backup-simplify]: Simplify phi2 into phi2
12.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.718 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2
12.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
12.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.718 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.718 * [backup-simplify]: Simplify -0.5 into -0.5
12.718 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.718 * [backup-simplify]: Simplify phi1 into phi1
12.718 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.718 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
12.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.718 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.718 * [backup-simplify]: Simplify -0.5 into -0.5
12.718 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.718 * [backup-simplify]: Simplify phi1 into phi1
12.718 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.719 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
12.719 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.719 * [backup-simplify]: Simplify 0 into 0
12.719 * [backup-simplify]: Simplify 1 into 1
12.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.719 * [backup-simplify]: Simplify (- 0) into 0
12.720 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.720 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.720 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.721 * [backup-simplify]: Simplify (- 0) into 0
12.721 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
12.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
12.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
12.723 * [backup-simplify]: Simplify (* 1 1) into 1
12.723 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
12.723 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2
12.723 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
12.723 * [taylor]: Taking taylor expansion of 2 in lambda2
12.723 * [backup-simplify]: Simplify 2 into 2
12.723 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
12.723 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
12.723 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.723 * [backup-simplify]: Simplify phi2 into phi2
12.723 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.723 * [backup-simplify]: Simplify phi1 into phi1
12.723 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
12.724 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
12.724 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2
12.724 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
12.724 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
12.724 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
12.724 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.724 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.724 * [backup-simplify]: Simplify -0.5 into -0.5
12.724 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.724 * [backup-simplify]: Simplify phi2 into phi2
12.724 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.724 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.724 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.724 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
12.724 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
12.724 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
12.724 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.724 * [backup-simplify]: Simplify -0.5 into -0.5
12.724 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.724 * [backup-simplify]: Simplify phi2 into phi2
12.724 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.725 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
12.725 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
12.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.725 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.725 * [backup-simplify]: Simplify -0.5 into -0.5
12.725 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.725 * [backup-simplify]: Simplify phi1 into phi1
12.725 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.725 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
12.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
12.725 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.725 * [backup-simplify]: Simplify -0.5 into -0.5
12.725 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.725 * [backup-simplify]: Simplify phi1 into phi1
12.725 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.726 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
12.726 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.726 * [backup-simplify]: Simplify 0 into 0
12.726 * [backup-simplify]: Simplify 1 into 1
12.726 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.726 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.726 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.726 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.726 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.727 * [backup-simplify]: Simplify (- 0) into 0
12.727 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.727 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.727 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.727 * [backup-simplify]: Simplify (- 0) into 0
12.727 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.728 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.728 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
12.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
12.729 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
12.729 * [backup-simplify]: Simplify (* 1 1) into 1
12.729 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
12.729 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
12.729 * [taylor]: Taking taylor expansion of 2 in lambda2
12.729 * [backup-simplify]: Simplify 2 into 2
12.729 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
12.730 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
12.730 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
12.730 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
12.730 * [taylor]: Taking taylor expansion of -0.5 in lambda2
12.730 * [backup-simplify]: Simplify -0.5 into -0.5
12.730 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
12.730 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
12.730 * [taylor]: Taking taylor expansion of phi1 in lambda2
12.730 * [backup-simplify]: Simplify phi1 into phi1
12.730 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.730 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
12.730 * [taylor]: Taking taylor expansion of phi2 in lambda2
12.730 * [backup-simplify]: Simplify phi2 into phi2
12.730 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
12.730 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
12.730 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
12.730 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.731 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.731 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.731 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
12.731 * [backup-simplify]: Simplify (- 0) into 0
12.732 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.732 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
12.732 * [taylor]: Taking taylor expansion of lambda2 in lambda2
12.732 * [backup-simplify]: Simplify 0 into 0
12.732 * [backup-simplify]: Simplify 1 into 1
12.732 * [taylor]: Taking taylor expansion of lambda1 in lambda2
12.732 * [backup-simplify]: Simplify lambda1 into lambda1
12.732 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.732 * [backup-simplify]: Simplify (* 0 lambda1) into 0
12.733 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
12.733 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
12.734 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.735 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.736 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.737 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
12.738 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
12.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))
12.740 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
12.742 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
12.743 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))
12.744 * [backup-simplify]: Simplify (+ 0) into 0
12.745 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.745 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.746 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.746 * [backup-simplify]: Simplify (- 0) into 0
12.747 * [backup-simplify]: Simplify (+ 0 0) into 0
12.747 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.747 * [backup-simplify]: Simplify (+ 0) into 0
12.748 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.748 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.749 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.749 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.750 * [backup-simplify]: Simplify (- 0) into 0
12.750 * [backup-simplify]: Simplify (+ 0 0) into 0
12.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
12.751 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
12.751 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.753 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
12.753 * [backup-simplify]: Simplify (+ 0) into 0
12.754 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.754 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.755 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.755 * [backup-simplify]: Simplify (+ 0 0) into 0
12.756 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.756 * [backup-simplify]: Simplify (+ 0) into 0
12.757 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.757 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.758 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.758 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.758 * [backup-simplify]: Simplify (+ 0 0) into 0
12.759 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
12.759 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
12.760 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.761 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
12.761 * [backup-simplify]: Simplify (+ 0 0) into 0
12.762 * [backup-simplify]: Simplify (+ 0 0) into 0
12.762 * [backup-simplify]: Simplify (+ 0 0) into 0
12.762 * [backup-simplify]: Simplify (+ 0 0) into 0
12.763 * [backup-simplify]: Simplify (+ 0) into 0
12.763 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.763 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.764 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.765 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.765 * [backup-simplify]: Simplify (- 0) into 0
12.765 * [backup-simplify]: Simplify (+ 0 0) into 0
12.766 * [backup-simplify]: Simplify (+ 0) into 0
12.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.766 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.767 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.767 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.768 * [backup-simplify]: Simplify (+ 0 0) into 0
12.768 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.768 * [backup-simplify]: Simplify (+ 0) into 0
12.769 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.769 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.770 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.770 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.771 * [backup-simplify]: Simplify (+ 0 0) into 0
12.771 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
12.772 * [backup-simplify]: Simplify (+ 0) into 0
12.772 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.772 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.774 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.774 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.774 * [backup-simplify]: Simplify (- 0) into 0
12.775 * [backup-simplify]: Simplify (+ 0 0) into 0
12.775 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
12.776 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.777 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0
12.777 * [backup-simplify]: Simplify (+ 0) into 0
12.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.778 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.779 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.780 * [backup-simplify]: Simplify (+ 0 0) into 0
12.780 * [backup-simplify]: Simplify (+ 0) into 0
12.781 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.781 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.781 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.782 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.782 * [backup-simplify]: Simplify (- 0) into 0
12.783 * [backup-simplify]: Simplify (+ 0 0) into 0
12.783 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.783 * [backup-simplify]: Simplify (+ 0) into 0
12.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.784 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.785 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.786 * [backup-simplify]: Simplify (- 0) into 0
12.786 * [backup-simplify]: Simplify (+ 0 0) into 0
12.786 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
12.787 * [backup-simplify]: Simplify (+ 0) into 0
12.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.787 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.788 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.789 * [backup-simplify]: Simplify (+ 0 0) into 0
12.789 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
12.790 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
12.791 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0
12.792 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.792 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.793 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.793 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
12.794 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
12.795 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
12.797 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
12.797 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
12.798 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
12.798 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
12.798 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
12.798 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
12.798 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.798 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.798 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.798 * [backup-simplify]: Simplify -0.5 into -0.5
12.798 * [taylor]: Taking taylor expansion of phi2 in phi2
12.798 * [backup-simplify]: Simplify 0 into 0
12.798 * [backup-simplify]: Simplify 1 into 1
12.799 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.799 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.799 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
12.799 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.799 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.799 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.799 * [backup-simplify]: Simplify -0.5 into -0.5
12.799 * [taylor]: Taking taylor expansion of phi1 in phi2
12.799 * [backup-simplify]: Simplify phi1 into phi1
12.799 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.799 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.799 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.800 * [backup-simplify]: Simplify (- 0) into 0
12.800 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.800 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
12.800 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
12.800 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.800 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.800 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.800 * [backup-simplify]: Simplify -0.5 into -0.5
12.800 * [taylor]: Taking taylor expansion of phi2 in phi2
12.800 * [backup-simplify]: Simplify 0 into 0
12.800 * [backup-simplify]: Simplify 1 into 1
12.801 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.801 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
12.801 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.801 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.801 * [backup-simplify]: Simplify -0.5 into -0.5
12.801 * [taylor]: Taking taylor expansion of phi1 in phi2
12.801 * [backup-simplify]: Simplify phi1 into phi1
12.801 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.801 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.801 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.801 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.801 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.802 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.802 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
12.802 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
12.802 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.802 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.802 * [backup-simplify]: Simplify -0.5 into -0.5
12.802 * [taylor]: Taking taylor expansion of phi2 in phi2
12.802 * [backup-simplify]: Simplify 0 into 0
12.802 * [backup-simplify]: Simplify 1 into 1
12.802 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.802 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
12.803 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.803 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.803 * [backup-simplify]: Simplify -0.5 into -0.5
12.803 * [taylor]: Taking taylor expansion of phi2 in phi2
12.803 * [backup-simplify]: Simplify 0 into 0
12.803 * [backup-simplify]: Simplify 1 into 1
12.803 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.803 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.803 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
12.803 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.803 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.803 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.803 * [backup-simplify]: Simplify -0.5 into -0.5
12.803 * [taylor]: Taking taylor expansion of phi1 in phi2
12.803 * [backup-simplify]: Simplify phi1 into phi1
12.804 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.804 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.804 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.804 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.804 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.804 * [backup-simplify]: Simplify -0.5 into -0.5
12.804 * [taylor]: Taking taylor expansion of phi1 in phi2
12.804 * [backup-simplify]: Simplify phi1 into phi1
12.804 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.804 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.804 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.804 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
12.804 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.804 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.804 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.804 * [backup-simplify]: Simplify -0.5 into -0.5
12.804 * [taylor]: Taking taylor expansion of phi2 in phi2
12.804 * [backup-simplify]: Simplify 0 into 0
12.804 * [backup-simplify]: Simplify 1 into 1
12.805 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.805 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.805 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
12.805 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.805 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.805 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.805 * [backup-simplify]: Simplify -0.5 into -0.5
12.805 * [taylor]: Taking taylor expansion of phi2 in phi2
12.805 * [backup-simplify]: Simplify 0 into 0
12.805 * [backup-simplify]: Simplify 1 into 1
12.806 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.806 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
12.806 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.806 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.806 * [backup-simplify]: Simplify -0.5 into -0.5
12.806 * [taylor]: Taking taylor expansion of phi1 in phi2
12.806 * [backup-simplify]: Simplify phi1 into phi1
12.806 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.806 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.806 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.806 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.806 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.806 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.806 * [backup-simplify]: Simplify -0.5 into -0.5
12.806 * [taylor]: Taking taylor expansion of phi1 in phi2
12.807 * [backup-simplify]: Simplify phi1 into phi1
12.807 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.807 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.807 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
12.807 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
12.808 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.808 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
12.808 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
12.808 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.809 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.810 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.810 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.810 * [backup-simplify]: Simplify (- 0) into 0
12.810 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.810 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.811 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.811 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.811 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
12.811 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
12.812 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
12.812 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.812 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.812 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.812 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.812 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.819 * [backup-simplify]: Simplify (- 0) into 0
12.819 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
12.820 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
12.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
12.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
12.821 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
12.822 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
12.824 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
12.824 * [backup-simplify]: Simplify (+ 0) into 0
12.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.825 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.825 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.826 * [backup-simplify]: Simplify (- 0) into 0
12.826 * [backup-simplify]: Simplify (+ 0 0) into 0
12.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.826 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
12.826 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
12.827 * [backup-simplify]: Simplify (+ 0) into 0
12.827 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.827 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.828 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.828 * [backup-simplify]: Simplify (+ 0 0) into 0
12.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.828 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
12.829 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
12.829 * [backup-simplify]: Simplify (+ 0 0) into 0
12.829 * [backup-simplify]: Simplify (+ 0) into 0
12.830 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.830 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.830 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.831 * [backup-simplify]: Simplify (+ 0 0) into 0
12.831 * [backup-simplify]: Simplify (+ 0) into 0
12.831 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.831 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.832 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.833 * [backup-simplify]: Simplify (- 0) into 0
12.833 * [backup-simplify]: Simplify (+ 0 0) into 0
12.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.833 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
12.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
12.834 * [backup-simplify]: Simplify (+ 0) into 0
12.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.834 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.834 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.835 * [backup-simplify]: Simplify (- 0) into 0
12.835 * [backup-simplify]: Simplify (+ 0 0) into 0
12.835 * [backup-simplify]: Simplify (+ 0) into 0
12.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.836 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.837 * [backup-simplify]: Simplify (+ 0 0) into 0
12.837 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
12.838 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
12.838 * [backup-simplify]: Simplify (+ 0 0) into 0
12.838 * [backup-simplify]: Simplify (- 0) into 0
12.838 * [backup-simplify]: Simplify (+ 0 0) into 0
12.839 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0
12.840 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2
12.840 * [taylor]: Taking taylor expansion of -1 in phi2
12.840 * [backup-simplify]: Simplify -1 into -1
12.840 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2
12.840 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2
12.840 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
12.840 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
12.840 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
12.840 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
12.840 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
12.840 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.840 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.840 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.840 * [backup-simplify]: Simplify -0.5 into -0.5
12.840 * [taylor]: Taking taylor expansion of phi2 in phi2
12.840 * [backup-simplify]: Simplify 0 into 0
12.840 * [backup-simplify]: Simplify 1 into 1
12.840 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.840 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.840 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
12.840 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.840 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.840 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.840 * [backup-simplify]: Simplify -0.5 into -0.5
12.840 * [taylor]: Taking taylor expansion of phi1 in phi2
12.840 * [backup-simplify]: Simplify phi1 into phi1
12.840 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.841 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.841 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.841 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.841 * [backup-simplify]: Simplify (- 0) into 0
12.841 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.841 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
12.841 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
12.841 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.841 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.841 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.841 * [backup-simplify]: Simplify -0.5 into -0.5
12.841 * [taylor]: Taking taylor expansion of phi2 in phi2
12.841 * [backup-simplify]: Simplify 0 into 0
12.841 * [backup-simplify]: Simplify 1 into 1
12.842 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.842 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.842 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
12.842 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.842 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.842 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.842 * [backup-simplify]: Simplify -0.5 into -0.5
12.842 * [taylor]: Taking taylor expansion of phi1 in phi2
12.842 * [backup-simplify]: Simplify phi1 into phi1
12.842 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.842 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.842 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.842 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.842 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.842 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
12.842 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
12.842 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.842 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.842 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.842 * [backup-simplify]: Simplify -0.5 into -0.5
12.842 * [taylor]: Taking taylor expansion of phi2 in phi2
12.842 * [backup-simplify]: Simplify 0 into 0
12.842 * [backup-simplify]: Simplify 1 into 1
12.843 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.843 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.843 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
12.843 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.843 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.843 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.843 * [backup-simplify]: Simplify -0.5 into -0.5
12.843 * [taylor]: Taking taylor expansion of phi2 in phi2
12.843 * [backup-simplify]: Simplify 0 into 0
12.843 * [backup-simplify]: Simplify 1 into 1
12.843 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.843 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.843 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
12.843 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.843 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.843 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.843 * [backup-simplify]: Simplify -0.5 into -0.5
12.843 * [taylor]: Taking taylor expansion of phi1 in phi2
12.843 * [backup-simplify]: Simplify phi1 into phi1
12.843 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.843 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.843 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.843 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.843 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.843 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.843 * [backup-simplify]: Simplify -0.5 into -0.5
12.843 * [taylor]: Taking taylor expansion of phi1 in phi2
12.843 * [backup-simplify]: Simplify phi1 into phi1
12.844 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.844 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.844 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.844 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
12.844 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
12.844 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.844 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.844 * [backup-simplify]: Simplify -0.5 into -0.5
12.844 * [taylor]: Taking taylor expansion of phi2 in phi2
12.844 * [backup-simplify]: Simplify 0 into 0
12.844 * [backup-simplify]: Simplify 1 into 1
12.844 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.844 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.844 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
12.844 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
12.844 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
12.844 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.844 * [backup-simplify]: Simplify -0.5 into -0.5
12.844 * [taylor]: Taking taylor expansion of phi2 in phi2
12.844 * [backup-simplify]: Simplify 0 into 0
12.844 * [backup-simplify]: Simplify 1 into 1
12.845 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.845 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
12.845 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
12.845 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.845 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.845 * [backup-simplify]: Simplify -0.5 into -0.5
12.845 * [taylor]: Taking taylor expansion of phi1 in phi2
12.845 * [backup-simplify]: Simplify phi1 into phi1
12.845 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.845 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.845 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
12.846 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
12.846 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.846 * [backup-simplify]: Simplify -0.5 into -0.5
12.846 * [taylor]: Taking taylor expansion of phi1 in phi2
12.846 * [backup-simplify]: Simplify phi1 into phi1
12.846 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
12.846 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.846 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
12.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
12.847 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
12.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
12.847 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.848 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.848 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.849 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.849 * [backup-simplify]: Simplify (- 0) into 0
12.849 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.849 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.849 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.849 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.850 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
12.850 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
12.850 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
12.850 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
12.851 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
12.851 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
12.851 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
12.851 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
12.851 * [backup-simplify]: Simplify (- 0) into 0
12.851 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
12.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
12.852 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
12.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
12.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
12.854 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
12.856 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
12.858 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
12.860 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
12.861 * [backup-simplify]: Simplify (+ 0) into 0
12.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.862 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.863 * [backup-simplify]: Simplify (- 0) into 0
12.863 * [backup-simplify]: Simplify (+ 0 0) into 0
12.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
12.864 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
12.865 * [backup-simplify]: Simplify (+ 0) into 0
12.865 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.865 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.866 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.867 * [backup-simplify]: Simplify (+ 0 0) into 0
12.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
12.868 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
12.868 * [backup-simplify]: Simplify (+ 0 0) into 0
12.868 * [backup-simplify]: Simplify (+ 0) into 0
12.869 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.869 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.870 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.870 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.871 * [backup-simplify]: Simplify (+ 0 0) into 0
12.871 * [backup-simplify]: Simplify (+ 0) into 0
12.871 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.872 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.872 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.873 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.873 * [backup-simplify]: Simplify (- 0) into 0
12.874 * [backup-simplify]: Simplify (+ 0 0) into 0
12.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.874 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
12.874 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
12.875 * [backup-simplify]: Simplify (+ 0) into 0
12.875 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.876 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.877 * [backup-simplify]: Simplify (- 0) into 0
12.878 * [backup-simplify]: Simplify (+ 0 0) into 0
12.878 * [backup-simplify]: Simplify (+ 0) into 0
12.879 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
12.879 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
12.880 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
12.880 * [backup-simplify]: Simplify (+ 0 0) into 0
12.881 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
12.881 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
12.882 * [backup-simplify]: Simplify (+ 0 0) into 0
12.882 * [backup-simplify]: Simplify (- 0) into 0
12.883 * [backup-simplify]: Simplify (+ 0 0) into 0
12.887 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
12.890 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
12.890 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2
12.890 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
12.890 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
12.890 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
12.890 * [taylor]: Taking taylor expansion of -0.5 in phi2
12.890 * [backup-simplify]: Simplify -0.5 into -0.5
12.890 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
12.890 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
12.890 * [taylor]: Taking taylor expansion of phi1 in phi2
12.890 * [backup-simplify]: Simplify phi1 into phi1
12.890 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
12.890 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
12.890 * [taylor]: Taking taylor expansion of phi2 in phi2
12.890 * [backup-simplify]: Simplify 0 into 0
12.890 * [backup-simplify]: Simplify 1 into 1
12.891 * [backup-simplify]: Simplify (/ 1 1) into 1
12.891 * [backup-simplify]: Simplify (+ 0 1) into 1
12.892 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
12.892 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
12.892 * [taylor]: Taking taylor expansion of lambda1 in phi2
12.892 * [backup-simplify]: Simplify lambda1 into lambda1
12.892 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
12.893 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
12.893 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
12.893 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
12.893 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
12.893 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
12.893 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
12.893 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
12.893 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.893 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.893 * [backup-simplify]: Simplify -0.5 into -0.5
12.893 * [taylor]: Taking taylor expansion of phi2 in phi1
12.893 * [backup-simplify]: Simplify phi2 into phi2
12.893 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.893 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.893 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.894 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.894 * [backup-simplify]: Simplify (- 0) into 0
12.894 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.894 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
12.894 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
12.894 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.894 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.894 * [backup-simplify]: Simplify -0.5 into -0.5
12.894 * [taylor]: Taking taylor expansion of phi1 in phi1
12.894 * [backup-simplify]: Simplify 0 into 0
12.894 * [backup-simplify]: Simplify 1 into 1
12.895 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.895 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.895 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
12.895 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
12.895 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
12.895 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.895 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.895 * [backup-simplify]: Simplify -0.5 into -0.5
12.895 * [taylor]: Taking taylor expansion of phi2 in phi1
12.895 * [backup-simplify]: Simplify phi2 into phi2
12.895 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.895 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.895 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.896 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.896 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.896 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
12.896 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
12.896 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.896 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.896 * [backup-simplify]: Simplify -0.5 into -0.5
12.896 * [taylor]: Taking taylor expansion of phi1 in phi1
12.896 * [backup-simplify]: Simplify 0 into 0
12.896 * [backup-simplify]: Simplify 1 into 1
12.896 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.896 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.896 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
12.897 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
12.897 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
12.897 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.897 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.897 * [backup-simplify]: Simplify -0.5 into -0.5
12.897 * [taylor]: Taking taylor expansion of phi1 in phi1
12.897 * [backup-simplify]: Simplify 0 into 0
12.897 * [backup-simplify]: Simplify 1 into 1
12.897 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.897 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.897 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
12.897 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
12.897 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.897 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.897 * [backup-simplify]: Simplify -0.5 into -0.5
12.897 * [taylor]: Taking taylor expansion of phi2 in phi1
12.897 * [backup-simplify]: Simplify phi2 into phi2
12.898 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.898 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.898 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.898 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
12.898 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
12.898 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.898 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.898 * [backup-simplify]: Simplify -0.5 into -0.5
12.898 * [taylor]: Taking taylor expansion of phi2 in phi1
12.898 * [backup-simplify]: Simplify phi2 into phi2
12.898 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.898 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.898 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.898 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
12.898 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.898 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.898 * [backup-simplify]: Simplify -0.5 into -0.5
12.898 * [taylor]: Taking taylor expansion of phi1 in phi1
12.898 * [backup-simplify]: Simplify 0 into 0
12.898 * [backup-simplify]: Simplify 1 into 1
12.899 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.899 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.899 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
12.899 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
12.899 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.899 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.899 * [backup-simplify]: Simplify -0.5 into -0.5
12.899 * [taylor]: Taking taylor expansion of phi1 in phi1
12.899 * [backup-simplify]: Simplify 0 into 0
12.899 * [backup-simplify]: Simplify 1 into 1
12.900 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.900 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
12.900 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
12.900 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
12.900 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.900 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.900 * [backup-simplify]: Simplify -0.5 into -0.5
12.900 * [taylor]: Taking taylor expansion of phi2 in phi1
12.900 * [backup-simplify]: Simplify phi2 into phi2
12.900 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.900 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.900 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.900 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
12.900 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
12.900 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
12.900 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.900 * [backup-simplify]: Simplify -0.5 into -0.5
12.900 * [taylor]: Taking taylor expansion of phi2 in phi1
12.900 * [backup-simplify]: Simplify phi2 into phi2
12.900 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
12.900 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
12.900 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
12.900 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
12.901 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
12.901 * [taylor]: Taking taylor expansion of -0.5 in phi1
12.901 * [backup-simplify]: Simplify -0.5 into -0.5
12.901 * [taylor]: Taking taylor expansion of phi1 in phi1
12.901 * [backup-simplify]: Simplify 0 into 0
12.901 * [backup-simplify]: Simplify 1 into 1
12.901 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
12.901 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
12.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
12.902 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
12.902 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
12.902 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
12.902 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
12.903 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
12.903 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
12.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.904 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.904 * [backup-simplify]: Simplify (- 0) into 0
12.904 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
12.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
12.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
12.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
12.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
12.906 * [backup-simplify]: Simplify (- 0) into 0
12.906 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
12.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
12.906 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
12.906 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
12.906 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
12.907 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
12.907 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
12.908 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))
12.908 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
12.910 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
12.912 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))
12.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.913 * [backup-simplify]: Simplify (+ 0) into 0
12.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.914 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.915 * [backup-simplify]: Simplify (- 0) into 0
12.915 * [backup-simplify]: Simplify (+ 0 0) into 0
12.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
12.916 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
12.916 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.917 * [backup-simplify]: Simplify (+ 0) into 0
12.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.917 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.919 * [backup-simplify]: Simplify (+ 0 0) into 0
12.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
12.920 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
12.920 * [backup-simplify]: Simplify (+ 0 0) into 0
12.921 * [backup-simplify]: Simplify (+ 0) into 0
12.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.922 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.923 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.924 * [backup-simplify]: Simplify (- 0) into 0
12.924 * [backup-simplify]: Simplify (+ 0 0) into 0
12.924 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
12.925 * [backup-simplify]: Simplify (+ 0) into 0
12.925 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.925 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.927 * [backup-simplify]: Simplify (+ 0 0) into 0
12.927 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
12.928 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0
12.928 * [backup-simplify]: Simplify (+ 0) into 0
12.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.929 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.930 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.931 * [backup-simplify]: Simplify (+ 0 0) into 0
12.931 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
12.931 * [backup-simplify]: Simplify (+ 0) into 0
12.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
12.932 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
12.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
12.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
12.934 * [backup-simplify]: Simplify (- 0) into 0
12.934 * [backup-simplify]: Simplify (+ 0 0) into 0
12.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
12.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0
12.936 * [backup-simplify]: Simplify (+ 0 0) into 0
12.936 * [backup-simplify]: Simplify (- 0) into 0
12.936 * [backup-simplify]: Simplify (+ 0 0) into 0
12.939 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) into 0
12.940 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.941 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.942 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.943 * [backup-simplify]: Simplify (- 0) into 0
12.943 * [backup-simplify]: Simplify (+ 0 0) into 0
12.944 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
12.945 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.946 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.946 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.947 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.948 * [backup-simplify]: Simplify (- 0) into 0
12.948 * [backup-simplify]: Simplify (+ 0 0) into 0
12.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
12.949 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
12.950 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
12.952 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
12.953 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.954 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.955 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.956 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.956 * [backup-simplify]: Simplify (+ 0 0) into 0
12.957 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
12.957 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.959 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.959 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.960 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.960 * [backup-simplify]: Simplify (+ 0 0) into 0
12.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
12.961 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
12.962 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
12.963 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
12.963 * [backup-simplify]: Simplify (+ 0 0) into 0
12.963 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) 0) into (/ 1 (pow phi1 2))
12.964 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))
12.964 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))))
12.965 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.965 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.966 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.967 * [backup-simplify]: Simplify (- 0) into 0
12.967 * [backup-simplify]: Simplify (+ 0 0) into 0
12.967 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.968 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.969 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.969 * [backup-simplify]: Simplify (+ 0 0) into 0
12.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
12.974 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.975 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.976 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.976 * [backup-simplify]: Simplify (+ 0 0) into 0
12.977 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
12.977 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.978 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.978 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.979 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.979 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.979 * [backup-simplify]: Simplify (- 0) into 0
12.979 * [backup-simplify]: Simplify (+ 0 0) into 0
12.980 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0
12.980 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
12.982 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
12.982 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
12.982 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.983 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.984 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.984 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.984 * [backup-simplify]: Simplify (+ 0 0) into 0
12.985 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
12.985 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
12.986 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.986 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
12.986 * [backup-simplify]: Simplify (- 0) into 0
12.987 * [backup-simplify]: Simplify (+ 0 0) into 0
12.987 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
12.987 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.988 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.988 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.989 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.989 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.990 * [backup-simplify]: Simplify (- 0) into 0
12.990 * [backup-simplify]: Simplify (+ 0 0) into 0
12.991 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
12.992 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
12.993 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
12.993 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
12.994 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
12.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
12.995 * [backup-simplify]: Simplify (+ 0 0) into 0
12.995 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0
12.996 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
12.998 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
12.999 * [backup-simplify]: Simplify (+ 0) into 0
12.999 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
13.000 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
13.000 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
13.000 * [backup-simplify]: Simplify (+ 0 0) into 0
13.001 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
13.002 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.002 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
13.003 * [backup-simplify]: Simplify (- 0) into 0
13.003 * [backup-simplify]: Simplify (+ 0 0) into 0
13.003 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
13.004 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
13.005 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
13.006 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
13.006 * [backup-simplify]: Simplify (+ 0 0) into 0
13.006 * [backup-simplify]: Simplify (+ (/ 2 (* phi2 phi1)) 0) into (* 2 (/ 1 (* phi2 phi1)))
13.006 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 (* phi2 phi1)))) into (* 2 (/ 1 (* phi2 phi1)))
13.007 * [backup-simplify]: Simplify (- (* 2 (/ 1 (* phi2 phi1)))) into (- (* 2 (/ 1 (* phi2 phi1))))
13.008 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (- (* 2 (/ 1 (* phi2 phi1))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1))))
13.015 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (* 2 (/ 1 (* phi2 phi1)))) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
13.016 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2
13.016 * [taylor]: Taking taylor expansion of 1/2 in phi2
13.016 * [backup-simplify]: Simplify 1/2 into 1/2
13.016 * [taylor]: Taking taylor expansion of (* (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
13.016 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) in phi2
13.016 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) in phi2
13.016 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
13.016 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
13.016 * [taylor]: Taking taylor expansion of phi2 in phi2
13.016 * [backup-simplify]: Simplify 0 into 0
13.016 * [backup-simplify]: Simplify 1 into 1
13.017 * [backup-simplify]: Simplify (* 1 1) into 1
13.017 * [backup-simplify]: Simplify (/ 1 1) into 1
13.017 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) in phi2
13.017 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
13.017 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
13.017 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
13.017 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
13.017 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.017 * [backup-simplify]: Simplify -0.5 into -0.5
13.018 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
13.018 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.018 * [taylor]: Taking taylor expansion of phi1 in phi2
13.018 * [backup-simplify]: Simplify phi1 into phi1
13.018 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.018 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.018 * [taylor]: Taking taylor expansion of phi2 in phi2
13.018 * [backup-simplify]: Simplify 0 into 0
13.018 * [backup-simplify]: Simplify 1 into 1
13.018 * [backup-simplify]: Simplify (/ 1 1) into 1
13.019 * [backup-simplify]: Simplify (+ 0 1) into 1
13.019 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
13.019 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
13.019 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
13.019 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.020 * [backup-simplify]: Simplify lambda1 into lambda1
13.020 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
13.020 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
13.021 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
13.021 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
13.021 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
13.021 * [taylor]: Taking taylor expansion of phi1 in phi2
13.021 * [backup-simplify]: Simplify phi1 into phi1
13.021 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
13.021 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
13.021 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1)))) in phi2
13.021 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
13.021 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2
13.021 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
13.021 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
13.021 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.021 * [backup-simplify]: Simplify -0.5 into -0.5
13.021 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
13.021 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.021 * [taylor]: Taking taylor expansion of phi1 in phi2
13.021 * [backup-simplify]: Simplify phi1 into phi1
13.021 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.021 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.022 * [taylor]: Taking taylor expansion of phi2 in phi2
13.022 * [backup-simplify]: Simplify 0 into 0
13.022 * [backup-simplify]: Simplify 1 into 1
13.022 * [backup-simplify]: Simplify (/ 1 1) into 1
13.023 * [backup-simplify]: Simplify (+ 0 1) into 1
13.023 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
13.023 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
13.023 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
13.023 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
13.023 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.023 * [backup-simplify]: Simplify lambda1 into lambda1
13.023 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
13.023 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.024 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.024 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.024 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.024 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.024 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.024 * [backup-simplify]: Simplify -0.5 into -0.5
13.024 * [taylor]: Taking taylor expansion of phi2 in phi2
13.024 * [backup-simplify]: Simplify 0 into 0
13.024 * [backup-simplify]: Simplify 1 into 1
13.024 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.024 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.024 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.024 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.025 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.025 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.025 * [backup-simplify]: Simplify -0.5 into -0.5
13.025 * [taylor]: Taking taylor expansion of phi1 in phi2
13.025 * [backup-simplify]: Simplify phi1 into phi1
13.025 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.025 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.025 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.025 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.025 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.026 * [backup-simplify]: Simplify (- 0) into 0
13.026 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.026 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.026 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.026 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.026 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.026 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.026 * [backup-simplify]: Simplify -0.5 into -0.5
13.026 * [taylor]: Taking taylor expansion of phi2 in phi2
13.026 * [backup-simplify]: Simplify 0 into 0
13.026 * [backup-simplify]: Simplify 1 into 1
13.026 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.027 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.027 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.027 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.027 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.027 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.027 * [backup-simplify]: Simplify -0.5 into -0.5
13.027 * [taylor]: Taking taylor expansion of phi1 in phi2
13.027 * [backup-simplify]: Simplify phi1 into phi1
13.027 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.027 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.027 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.027 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.027 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.027 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.028 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
13.028 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.028 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.028 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.028 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.028 * [backup-simplify]: Simplify -0.5 into -0.5
13.028 * [taylor]: Taking taylor expansion of phi2 in phi2
13.028 * [backup-simplify]: Simplify 0 into 0
13.028 * [backup-simplify]: Simplify 1 into 1
13.028 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.028 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.028 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.028 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.029 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.029 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.029 * [backup-simplify]: Simplify -0.5 into -0.5
13.029 * [taylor]: Taking taylor expansion of phi2 in phi2
13.029 * [backup-simplify]: Simplify 0 into 0
13.029 * [backup-simplify]: Simplify 1 into 1
13.029 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.029 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.029 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.029 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.029 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.029 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.029 * [backup-simplify]: Simplify -0.5 into -0.5
13.029 * [taylor]: Taking taylor expansion of phi1 in phi2
13.029 * [backup-simplify]: Simplify phi1 into phi1
13.030 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.030 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.030 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.030 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.030 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.030 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.030 * [backup-simplify]: Simplify -0.5 into -0.5
13.030 * [taylor]: Taking taylor expansion of phi1 in phi2
13.030 * [backup-simplify]: Simplify phi1 into phi1
13.030 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.030 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.030 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.030 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.030 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.030 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.030 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.030 * [backup-simplify]: Simplify -0.5 into -0.5
13.030 * [taylor]: Taking taylor expansion of phi2 in phi2
13.030 * [backup-simplify]: Simplify 0 into 0
13.030 * [backup-simplify]: Simplify 1 into 1
13.031 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.031 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.031 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.031 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.031 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.031 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.031 * [backup-simplify]: Simplify -0.5 into -0.5
13.031 * [taylor]: Taking taylor expansion of phi2 in phi2
13.031 * [backup-simplify]: Simplify 0 into 0
13.031 * [backup-simplify]: Simplify 1 into 1
13.032 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.032 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.032 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.032 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.032 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.032 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.032 * [backup-simplify]: Simplify -0.5 into -0.5
13.032 * [taylor]: Taking taylor expansion of phi1 in phi2
13.032 * [backup-simplify]: Simplify phi1 into phi1
13.032 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.032 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.032 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.033 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.033 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.033 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.033 * [backup-simplify]: Simplify -0.5 into -0.5
13.033 * [taylor]: Taking taylor expansion of phi1 in phi2
13.033 * [backup-simplify]: Simplify phi1 into phi1
13.033 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.033 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.033 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.034 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
13.034 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
13.034 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
13.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.035 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.035 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.035 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.036 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.037 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.037 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.037 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.037 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.037 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.038 * [backup-simplify]: Simplify (- 0) into 0
13.038 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.038 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.039 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.039 * [backup-simplify]: Simplify (- 0) into 0
13.039 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.039 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.040 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.040 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.040 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.042 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.044 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.046 * [backup-simplify]: Simplify (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))
13.049 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.049 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
13.049 * [taylor]: Taking taylor expansion of 2 in phi2
13.049 * [backup-simplify]: Simplify 2 into 2
13.049 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
13.049 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
13.049 * [taylor]: Taking taylor expansion of phi2 in phi2
13.049 * [backup-simplify]: Simplify 0 into 0
13.049 * [backup-simplify]: Simplify 1 into 1
13.049 * [taylor]: Taking taylor expansion of phi1 in phi2
13.049 * [backup-simplify]: Simplify phi1 into phi1
13.049 * [backup-simplify]: Simplify (* 0 phi1) into 0
13.050 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
13.050 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.050 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
13.050 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
13.050 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
13.050 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.050 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.050 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.051 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.051 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.051 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.051 * [backup-simplify]: Simplify -0.5 into -0.5
13.051 * [taylor]: Taking taylor expansion of phi2 in phi2
13.051 * [backup-simplify]: Simplify 0 into 0
13.051 * [backup-simplify]: Simplify 1 into 1
13.051 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.051 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.051 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.051 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.051 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.051 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.052 * [backup-simplify]: Simplify -0.5 into -0.5
13.052 * [taylor]: Taking taylor expansion of phi1 in phi2
13.052 * [backup-simplify]: Simplify phi1 into phi1
13.052 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.052 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.052 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.052 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.052 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.053 * [backup-simplify]: Simplify (- 0) into 0
13.053 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.053 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.053 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.053 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.053 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.053 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.053 * [backup-simplify]: Simplify -0.5 into -0.5
13.053 * [taylor]: Taking taylor expansion of phi2 in phi2
13.053 * [backup-simplify]: Simplify 0 into 0
13.053 * [backup-simplify]: Simplify 1 into 1
13.053 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.054 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.054 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.054 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.054 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.054 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.054 * [backup-simplify]: Simplify -0.5 into -0.5
13.054 * [taylor]: Taking taylor expansion of phi1 in phi2
13.054 * [backup-simplify]: Simplify phi1 into phi1
13.054 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.054 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.054 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.054 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.054 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.054 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.054 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
13.054 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.054 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.055 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.055 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.055 * [backup-simplify]: Simplify -0.5 into -0.5
13.055 * [taylor]: Taking taylor expansion of phi2 in phi2
13.055 * [backup-simplify]: Simplify 0 into 0
13.055 * [backup-simplify]: Simplify 1 into 1
13.055 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.055 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.055 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.055 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.056 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.056 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.056 * [backup-simplify]: Simplify -0.5 into -0.5
13.056 * [taylor]: Taking taylor expansion of phi2 in phi2
13.056 * [backup-simplify]: Simplify 0 into 0
13.056 * [backup-simplify]: Simplify 1 into 1
13.056 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.056 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.056 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.056 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.056 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.056 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.056 * [backup-simplify]: Simplify -0.5 into -0.5
13.057 * [taylor]: Taking taylor expansion of phi1 in phi2
13.057 * [backup-simplify]: Simplify phi1 into phi1
13.057 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.057 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.057 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.057 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.057 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.057 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.057 * [backup-simplify]: Simplify -0.5 into -0.5
13.057 * [taylor]: Taking taylor expansion of phi1 in phi2
13.057 * [backup-simplify]: Simplify phi1 into phi1
13.057 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.057 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.057 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.057 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.057 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.057 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.057 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.058 * [backup-simplify]: Simplify -0.5 into -0.5
13.058 * [taylor]: Taking taylor expansion of phi2 in phi2
13.058 * [backup-simplify]: Simplify 0 into 0
13.058 * [backup-simplify]: Simplify 1 into 1
13.058 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.058 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.058 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.058 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.058 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.058 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.058 * [backup-simplify]: Simplify -0.5 into -0.5
13.058 * [taylor]: Taking taylor expansion of phi2 in phi2
13.058 * [backup-simplify]: Simplify 0 into 0
13.058 * [backup-simplify]: Simplify 1 into 1
13.059 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.059 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.059 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.059 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.059 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.059 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.059 * [backup-simplify]: Simplify -0.5 into -0.5
13.059 * [taylor]: Taking taylor expansion of phi1 in phi2
13.059 * [backup-simplify]: Simplify phi1 into phi1
13.059 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.060 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.060 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.060 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.060 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.060 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.060 * [backup-simplify]: Simplify -0.5 into -0.5
13.060 * [taylor]: Taking taylor expansion of phi1 in phi2
13.060 * [backup-simplify]: Simplify phi1 into phi1
13.060 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.060 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.060 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.060 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.060 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.061 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.061 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.061 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.062 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.063 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.063 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.063 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.063 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.063 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.064 * [backup-simplify]: Simplify (- 0) into 0
13.064 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.064 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.065 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.065 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.065 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.066 * [backup-simplify]: Simplify (- 0) into 0
13.066 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.066 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.066 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.066 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.067 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.067 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.067 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.068 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.069 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.072 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.074 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
13.076 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.077 * [backup-simplify]: Simplify (+ 0) into 0
13.077 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.078 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.078 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.079 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.079 * [backup-simplify]: Simplify (- 0) into 0
13.080 * [backup-simplify]: Simplify (+ 0 0) into 0
13.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.081 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.081 * [backup-simplify]: Simplify (+ 0) into 0
13.082 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.082 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.083 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.084 * [backup-simplify]: Simplify (+ 0 0) into 0
13.084 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.084 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.085 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.085 * [backup-simplify]: Simplify (+ 0 0) into 0
13.085 * [backup-simplify]: Simplify (+ 0) into 0
13.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.086 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.087 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.088 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.088 * [backup-simplify]: Simplify (- 0) into 0
13.088 * [backup-simplify]: Simplify (+ 0 0) into 0
13.089 * [backup-simplify]: Simplify (+ 0) into 0
13.089 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.089 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.090 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.091 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.091 * [backup-simplify]: Simplify (+ 0 0) into 0
13.091 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.092 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.092 * [backup-simplify]: Simplify (+ 0) into 0
13.093 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.093 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.095 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.095 * [backup-simplify]: Simplify (+ 0 0) into 0
13.095 * [backup-simplify]: Simplify (+ 0) into 0
13.096 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.096 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.097 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.097 * [backup-simplify]: Simplify (- 0) into 0
13.097 * [backup-simplify]: Simplify (+ 0 0) into 0
13.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.098 * [backup-simplify]: Simplify (+ 0 0) into 0
13.098 * [backup-simplify]: Simplify (- 0) into 0
13.099 * [backup-simplify]: Simplify (+ 0 0) into 0
13.101 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
13.102 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
13.103 * [backup-simplify]: Simplify (+ 1 0) into 1
13.103 * [backup-simplify]: Simplify (+ 1 0) into 1
13.103 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
13.104 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
13.104 * [backup-simplify]: Simplify (+ 0 0) into 0
13.104 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
13.104 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1))
13.104 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
13.104 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
13.106 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))))
13.107 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.110 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1)))
13.110 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))) in phi1
13.110 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1)) in phi1
13.110 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
13.110 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
13.110 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
13.110 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
13.110 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
13.110 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
13.110 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.110 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.110 * [backup-simplify]: Simplify -0.5 into -0.5
13.110 * [taylor]: Taking taylor expansion of phi2 in phi1
13.110 * [backup-simplify]: Simplify phi2 into phi2
13.110 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.110 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.110 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.110 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.111 * [backup-simplify]: Simplify (- 0) into 0
13.111 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.111 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
13.111 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.111 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.111 * [backup-simplify]: Simplify -0.5 into -0.5
13.111 * [taylor]: Taking taylor expansion of phi1 in phi1
13.111 * [backup-simplify]: Simplify 0 into 0
13.111 * [backup-simplify]: Simplify 1 into 1
13.111 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.112 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
13.112 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
13.112 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.112 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.112 * [backup-simplify]: Simplify -0.5 into -0.5
13.112 * [taylor]: Taking taylor expansion of phi2 in phi1
13.112 * [backup-simplify]: Simplify phi2 into phi2
13.112 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.112 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.112 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.112 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.112 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.112 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
13.112 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.112 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.112 * [backup-simplify]: Simplify -0.5 into -0.5
13.112 * [taylor]: Taking taylor expansion of phi1 in phi1
13.112 * [backup-simplify]: Simplify 0 into 0
13.112 * [backup-simplify]: Simplify 1 into 1
13.113 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.113 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
13.113 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
13.113 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.113 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.113 * [backup-simplify]: Simplify -0.5 into -0.5
13.113 * [taylor]: Taking taylor expansion of phi2 in phi1
13.113 * [backup-simplify]: Simplify phi2 into phi2
13.113 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.113 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
13.113 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.113 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.113 * [backup-simplify]: Simplify -0.5 into -0.5
13.113 * [taylor]: Taking taylor expansion of phi1 in phi1
13.113 * [backup-simplify]: Simplify 0 into 0
13.113 * [backup-simplify]: Simplify 1 into 1
13.113 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.114 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
13.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.114 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.114 * [backup-simplify]: Simplify -0.5 into -0.5
13.114 * [taylor]: Taking taylor expansion of phi2 in phi1
13.114 * [backup-simplify]: Simplify phi2 into phi2
13.114 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.114 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.114 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.114 * [backup-simplify]: Simplify -0.5 into -0.5
13.114 * [taylor]: Taking taylor expansion of phi1 in phi1
13.114 * [backup-simplify]: Simplify 0 into 0
13.114 * [backup-simplify]: Simplify 1 into 1
13.114 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.114 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
13.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.114 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.114 * [backup-simplify]: Simplify -0.5 into -0.5
13.114 * [taylor]: Taking taylor expansion of phi2 in phi1
13.114 * [backup-simplify]: Simplify phi2 into phi2
13.114 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.115 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
13.115 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.115 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.115 * [backup-simplify]: Simplify -0.5 into -0.5
13.115 * [taylor]: Taking taylor expansion of phi1 in phi1
13.115 * [backup-simplify]: Simplify 0 into 0
13.115 * [backup-simplify]: Simplify 1 into 1
13.115 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.115 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
13.115 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.115 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.115 * [backup-simplify]: Simplify -0.5 into -0.5
13.115 * [taylor]: Taking taylor expansion of phi2 in phi1
13.115 * [backup-simplify]: Simplify phi2 into phi2
13.115 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.115 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.115 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.115 * [backup-simplify]: Simplify -0.5 into -0.5
13.115 * [taylor]: Taking taylor expansion of phi1 in phi1
13.115 * [backup-simplify]: Simplify 0 into 0
13.115 * [backup-simplify]: Simplify 1 into 1
13.116 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.116 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.116 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.117 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.117 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.117 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.118 * [backup-simplify]: Simplify (- 0) into 0
13.118 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.118 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.118 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
13.118 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
13.119 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.119 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.119 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.119 * [backup-simplify]: Simplify (- 0) into 0
13.119 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.119 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
13.120 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
13.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
13.121 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
13.123 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
13.125 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
13.127 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
13.128 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.128 * [backup-simplify]: Simplify (+ 0) into 0
13.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.129 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.130 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.130 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.131 * [backup-simplify]: Simplify (- 0) into 0
13.131 * [backup-simplify]: Simplify (+ 0 0) into 0
13.131 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.132 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.132 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.139 * [backup-simplify]: Simplify (+ 0) into 0
13.140 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.140 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.141 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.142 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.142 * [backup-simplify]: Simplify (+ 0 0) into 0
13.142 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.143 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.143 * [backup-simplify]: Simplify (+ 0 0) into 0
13.144 * [backup-simplify]: Simplify (+ 0) into 0
13.144 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.144 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.145 * [backup-simplify]: Simplify (+ 0 0) into 0
13.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
13.146 * [backup-simplify]: Simplify (+ 0) into 0
13.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.147 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.148 * [backup-simplify]: Simplify (- 0) into 0
13.148 * [backup-simplify]: Simplify (+ 0 0) into 0
13.148 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
13.148 * [backup-simplify]: Simplify (+ 0) into 0
13.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.149 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.150 * [backup-simplify]: Simplify (- 0) into 0
13.150 * [backup-simplify]: Simplify (+ 0 0) into 0
13.150 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.150 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
13.151 * [backup-simplify]: Simplify (+ 0) into 0
13.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.151 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.152 * [backup-simplify]: Simplify (+ 0 0) into 0
13.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
13.153 * [backup-simplify]: Simplify (+ 0 0) into 0
13.153 * [backup-simplify]: Simplify (- 0) into 0
13.153 * [backup-simplify]: Simplify (+ 0 0) into 0
13.156 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
13.157 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
13.157 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
13.157 * [taylor]: Taking taylor expansion of phi1 in phi1
13.157 * [backup-simplify]: Simplify 0 into 0
13.157 * [backup-simplify]: Simplify 1 into 1
13.158 * [backup-simplify]: Simplify (/ 1 1) into 1
13.159 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))
13.160 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))
13.160 * [taylor]: Taking taylor expansion of (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) in lambda1
13.160 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1
13.160 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1
13.160 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1
13.161 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
13.161 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
13.161 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
13.161 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
13.161 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.161 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.161 * [backup-simplify]: Simplify -0.5 into -0.5
13.161 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.161 * [backup-simplify]: Simplify phi2 into phi2
13.161 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.161 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.161 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.161 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.161 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.161 * [backup-simplify]: Simplify (- 0) into 0
13.161 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.161 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
13.161 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
13.162 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.162 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.162 * [backup-simplify]: Simplify -0.5 into -0.5
13.162 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.162 * [backup-simplify]: Simplify phi1 into phi1
13.162 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.162 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.162 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.162 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.162 * [backup-simplify]: Simplify (- 0) into 0
13.162 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.162 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
13.162 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
13.162 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
13.162 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.162 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.162 * [backup-simplify]: Simplify -0.5 into -0.5
13.162 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.162 * [backup-simplify]: Simplify phi2 into phi2
13.162 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.162 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.163 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.163 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.163 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
13.163 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
13.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.163 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.163 * [backup-simplify]: Simplify -0.5 into -0.5
13.163 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.163 * [backup-simplify]: Simplify phi1 into phi1
13.163 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.163 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.163 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.163 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1
13.163 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1
13.163 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
13.163 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.163 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.163 * [backup-simplify]: Simplify -0.5 into -0.5
13.163 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.163 * [backup-simplify]: Simplify phi2 into phi2
13.163 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.164 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1
13.164 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
13.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.164 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.164 * [backup-simplify]: Simplify -0.5 into -0.5
13.164 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.164 * [backup-simplify]: Simplify phi1 into phi1
13.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.164 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
13.164 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
13.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.164 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.164 * [backup-simplify]: Simplify -0.5 into -0.5
13.164 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.164 * [backup-simplify]: Simplify phi1 into phi1
13.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.164 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
13.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.164 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.164 * [backup-simplify]: Simplify -0.5 into -0.5
13.164 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.164 * [backup-simplify]: Simplify phi2 into phi2
13.164 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.164 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1
13.164 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
13.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.164 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.164 * [backup-simplify]: Simplify -0.5 into -0.5
13.164 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.165 * [backup-simplify]: Simplify phi2 into phi2
13.165 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.165 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1
13.165 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
13.165 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.165 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.165 * [backup-simplify]: Simplify -0.5 into -0.5
13.165 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.165 * [backup-simplify]: Simplify phi1 into phi1
13.165 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.165 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1
13.165 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
13.165 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.165 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.165 * [backup-simplify]: Simplify -0.5 into -0.5
13.165 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.165 * [backup-simplify]: Simplify phi1 into phi1
13.165 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.165 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
13.165 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.165 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.165 * [backup-simplify]: Simplify -0.5 into -0.5
13.165 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.165 * [backup-simplify]: Simplify phi2 into phi2
13.165 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.165 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.165 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.166 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.166 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.166 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.167 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.167 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.167 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.167 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.167 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.168 * [backup-simplify]: Simplify (- 0) into 0
13.168 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.168 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.168 * [backup-simplify]: Simplify (- 0) into 0
13.168 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
13.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
13.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
13.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.169 * [backup-simplify]: Simplify (- 0) into 0
13.169 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.170 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.170 * [backup-simplify]: Simplify (- 0) into 0
13.170 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.170 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.170 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.170 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))
13.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
13.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
13.171 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
13.172 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
13.173 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
13.175 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))
13.178 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
13.178 * [backup-simplify]: Simplify (+ 0) into 0
13.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.179 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.180 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.181 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.181 * [backup-simplify]: Simplify (- 0) into 0
13.181 * [backup-simplify]: Simplify (+ 0 0) into 0
13.182 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.182 * [backup-simplify]: Simplify (+ 0) into 0
13.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.183 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.184 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.185 * [backup-simplify]: Simplify (- 0) into 0
13.185 * [backup-simplify]: Simplify (+ 0 0) into 0
13.185 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.186 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.186 * [backup-simplify]: Simplify (+ 0) into 0
13.186 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.187 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.187 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.188 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.188 * [backup-simplify]: Simplify (+ 0 0) into 0
13.188 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.189 * [backup-simplify]: Simplify (+ 0) into 0
13.189 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.190 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.191 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.191 * [backup-simplify]: Simplify (+ 0 0) into 0
13.192 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.192 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.193 * [backup-simplify]: Simplify (+ 0 0) into 0
13.193 * [backup-simplify]: Simplify (+ 0) into 0
13.194 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.194 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.195 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.196 * [backup-simplify]: Simplify (- 0) into 0
13.196 * [backup-simplify]: Simplify (+ 0 0) into 0
13.197 * [backup-simplify]: Simplify (+ 0) into 0
13.197 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.198 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.199 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.199 * [backup-simplify]: Simplify (+ 0 0) into 0
13.200 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.200 * [backup-simplify]: Simplify (+ 0) into 0
13.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.202 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.202 * [backup-simplify]: Simplify (- 0) into 0
13.203 * [backup-simplify]: Simplify (+ 0 0) into 0
13.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0
13.204 * [backup-simplify]: Simplify (+ 0) into 0
13.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.204 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.205 * [backup-simplify]: Simplify (+ 0 0) into 0
13.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
13.206 * [backup-simplify]: Simplify (+ 0) into 0
13.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.206 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.207 * [backup-simplify]: Simplify (+ 0 0) into 0
13.208 * [backup-simplify]: Simplify (+ 0) into 0
13.208 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.208 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.209 * [backup-simplify]: Simplify (- 0) into 0
13.209 * [backup-simplify]: Simplify (+ 0 0) into 0
13.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.210 * [backup-simplify]: Simplify (+ 0) into 0
13.210 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.210 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.211 * [backup-simplify]: Simplify (+ 0 0) into 0
13.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0
13.212 * [backup-simplify]: Simplify (+ 0) into 0
13.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.212 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.213 * [backup-simplify]: Simplify (- 0) into 0
13.213 * [backup-simplify]: Simplify (+ 0 0) into 0
13.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
13.214 * [backup-simplify]: Simplify (+ 0 0) into 0
13.214 * [backup-simplify]: Simplify (- 0) into 0
13.214 * [backup-simplify]: Simplify (+ 0 0) into 0
13.217 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
13.218 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0
13.219 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
13.221 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
13.221 * [taylor]: Taking taylor expansion of (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1
13.221 * [taylor]: Taking taylor expansion of -1 in phi1
13.221 * [backup-simplify]: Simplify -1 into -1
13.221 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1
13.221 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1
13.221 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
13.221 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
13.221 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
13.221 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.221 * [backup-simplify]: Simplify -0.5 into -0.5
13.221 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
13.221 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
13.221 * [taylor]: Taking taylor expansion of phi1 in phi1
13.221 * [backup-simplify]: Simplify 0 into 0
13.221 * [backup-simplify]: Simplify 1 into 1
13.222 * [backup-simplify]: Simplify (/ 1 1) into 1
13.222 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
13.222 * [taylor]: Taking taylor expansion of phi2 in phi1
13.222 * [backup-simplify]: Simplify phi2 into phi2
13.222 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
13.222 * [backup-simplify]: Simplify (+ 1 0) into 1
13.222 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
13.222 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
13.222 * [taylor]: Taking taylor expansion of lambda1 in phi1
13.223 * [backup-simplify]: Simplify lambda1 into lambda1
13.223 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
13.223 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
13.223 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
13.223 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
13.223 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
13.223 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
13.223 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
13.223 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
13.223 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.223 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.223 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.223 * [backup-simplify]: Simplify -0.5 into -0.5
13.223 * [taylor]: Taking taylor expansion of phi2 in phi1
13.223 * [backup-simplify]: Simplify phi2 into phi2
13.223 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.223 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.223 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.223 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.223 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.224 * [backup-simplify]: Simplify (- 0) into 0
13.224 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.224 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
13.224 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.224 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.224 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.224 * [backup-simplify]: Simplify -0.5 into -0.5
13.224 * [taylor]: Taking taylor expansion of phi1 in phi1
13.224 * [backup-simplify]: Simplify 0 into 0
13.224 * [backup-simplify]: Simplify 1 into 1
13.224 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.224 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.224 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
13.224 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
13.224 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.224 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.225 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.225 * [backup-simplify]: Simplify -0.5 into -0.5
13.225 * [taylor]: Taking taylor expansion of phi2 in phi1
13.225 * [backup-simplify]: Simplify phi2 into phi2
13.225 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.225 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.225 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.225 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.225 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.225 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.225 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
13.225 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.225 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.225 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.225 * [backup-simplify]: Simplify -0.5 into -0.5
13.225 * [taylor]: Taking taylor expansion of phi1 in phi1
13.225 * [backup-simplify]: Simplify 0 into 0
13.225 * [backup-simplify]: Simplify 1 into 1
13.225 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.225 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.225 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
13.226 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
13.226 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.226 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.226 * [backup-simplify]: Simplify -0.5 into -0.5
13.226 * [taylor]: Taking taylor expansion of phi2 in phi1
13.226 * [backup-simplify]: Simplify phi2 into phi2
13.226 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.226 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.226 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
13.226 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.226 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.226 * [backup-simplify]: Simplify -0.5 into -0.5
13.226 * [taylor]: Taking taylor expansion of phi1 in phi1
13.226 * [backup-simplify]: Simplify 0 into 0
13.226 * [backup-simplify]: Simplify 1 into 1
13.226 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.226 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
13.226 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.226 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.226 * [backup-simplify]: Simplify -0.5 into -0.5
13.226 * [taylor]: Taking taylor expansion of phi2 in phi1
13.226 * [backup-simplify]: Simplify phi2 into phi2
13.226 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.227 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.227 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.227 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.227 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.227 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.227 * [backup-simplify]: Simplify -0.5 into -0.5
13.227 * [taylor]: Taking taylor expansion of phi1 in phi1
13.227 * [backup-simplify]: Simplify 0 into 0
13.227 * [backup-simplify]: Simplify 1 into 1
13.227 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.227 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.227 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
13.227 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
13.227 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.227 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.227 * [backup-simplify]: Simplify -0.5 into -0.5
13.227 * [taylor]: Taking taylor expansion of phi2 in phi1
13.227 * [backup-simplify]: Simplify phi2 into phi2
13.227 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.227 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.227 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.227 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
13.227 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
13.227 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.227 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.227 * [backup-simplify]: Simplify -0.5 into -0.5
13.227 * [taylor]: Taking taylor expansion of phi1 in phi1
13.227 * [backup-simplify]: Simplify 0 into 0
13.227 * [backup-simplify]: Simplify 1 into 1
13.228 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.228 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.228 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
13.228 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
13.228 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
13.228 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.228 * [backup-simplify]: Simplify -0.5 into -0.5
13.228 * [taylor]: Taking taylor expansion of phi2 in phi1
13.228 * [backup-simplify]: Simplify phi2 into phi2
13.228 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.228 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.228 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.228 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
13.228 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
13.228 * [taylor]: Taking taylor expansion of -0.5 in phi1
13.228 * [backup-simplify]: Simplify -0.5 into -0.5
13.228 * [taylor]: Taking taylor expansion of phi1 in phi1
13.228 * [backup-simplify]: Simplify 0 into 0
13.228 * [backup-simplify]: Simplify 1 into 1
13.229 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.229 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.229 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.230 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.230 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.230 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.230 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.230 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.230 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.230 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.231 * [backup-simplify]: Simplify (- 0) into 0
13.231 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.231 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
13.231 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
13.231 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
13.231 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.231 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.232 * [backup-simplify]: Simplify (- 0) into 0
13.232 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.232 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.232 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.232 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.232 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
13.232 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
13.233 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
13.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
13.235 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
13.237 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
13.239 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
13.241 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
13.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.242 * [backup-simplify]: Simplify (+ 0) into 0
13.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.243 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.244 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.244 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.245 * [backup-simplify]: Simplify (- 0) into 0
13.245 * [backup-simplify]: Simplify (+ 0 0) into 0
13.245 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.246 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.246 * [backup-simplify]: Simplify (+ 0) into 0
13.247 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.247 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.248 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.249 * [backup-simplify]: Simplify (+ 0 0) into 0
13.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.250 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.250 * [backup-simplify]: Simplify (+ 0 0) into 0
13.250 * [backup-simplify]: Simplify (+ 0) into 0
13.251 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.251 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.252 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.253 * [backup-simplify]: Simplify (- 0) into 0
13.253 * [backup-simplify]: Simplify (+ 0 0) into 0
13.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.253 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
13.254 * [backup-simplify]: Simplify (+ 0) into 0
13.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.255 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.256 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.257 * [backup-simplify]: Simplify (+ 0 0) into 0
13.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
13.257 * [backup-simplify]: Simplify (+ 0) into 0
13.258 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.258 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.259 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.260 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.260 * [backup-simplify]: Simplify (+ 0 0) into 0
13.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.260 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
13.261 * [backup-simplify]: Simplify (+ 0) into 0
13.261 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.263 * [backup-simplify]: Simplify (- 0) into 0
13.264 * [backup-simplify]: Simplify (+ 0 0) into 0
13.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
13.264 * [backup-simplify]: Simplify (+ 0 0) into 0
13.265 * [backup-simplify]: Simplify (- 0) into 0
13.265 * [backup-simplify]: Simplify (+ 0 0) into 0
13.268 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
13.270 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
13.270 * [taylor]: Taking taylor expansion of 0 in phi1
13.270 * [backup-simplify]: Simplify 0 into 0
13.270 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) in lambda1
13.270 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in lambda1
13.270 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
13.270 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
13.270 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
13.270 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
13.270 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.270 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.270 * [backup-simplify]: Simplify -0.5 into -0.5
13.270 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.270 * [backup-simplify]: Simplify phi2 into phi2
13.270 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.270 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.270 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.270 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.271 * [backup-simplify]: Simplify (- 0) into 0
13.271 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.271 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
13.271 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
13.271 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.271 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.271 * [backup-simplify]: Simplify -0.5 into -0.5
13.271 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.271 * [backup-simplify]: Simplify phi1 into phi1
13.271 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.271 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.271 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.271 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.271 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.272 * [backup-simplify]: Simplify (- 0) into 0
13.272 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.272 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
13.272 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
13.272 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
13.272 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.272 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.272 * [backup-simplify]: Simplify -0.5 into -0.5
13.272 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.272 * [backup-simplify]: Simplify phi2 into phi2
13.272 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.272 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.272 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.272 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.272 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
13.272 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
13.273 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.273 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.273 * [backup-simplify]: Simplify -0.5 into -0.5
13.273 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.273 * [backup-simplify]: Simplify phi1 into phi1
13.273 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.273 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.273 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.273 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.273 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.273 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.273 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in lambda1
13.273 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in lambda1
13.273 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
13.273 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.273 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.273 * [backup-simplify]: Simplify -0.5 into -0.5
13.273 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.273 * [backup-simplify]: Simplify phi1 into phi1
13.273 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.273 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.273 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.273 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in lambda1
13.273 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
13.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.274 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.274 * [backup-simplify]: Simplify -0.5 into -0.5
13.274 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.274 * [backup-simplify]: Simplify phi1 into phi1
13.274 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.274 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.274 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.274 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in lambda1
13.274 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
13.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.274 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.274 * [backup-simplify]: Simplify -0.5 into -0.5
13.274 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.274 * [backup-simplify]: Simplify phi2 into phi2
13.274 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.274 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.274 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.274 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
13.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.274 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.274 * [backup-simplify]: Simplify -0.5 into -0.5
13.274 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.274 * [backup-simplify]: Simplify phi2 into phi2
13.274 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.274 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.274 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.274 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in lambda1
13.275 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
13.275 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.275 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.275 * [backup-simplify]: Simplify -0.5 into -0.5
13.275 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.275 * [backup-simplify]: Simplify phi1 into phi1
13.275 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.275 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.275 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in lambda1
13.275 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
13.275 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
13.275 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.275 * [backup-simplify]: Simplify -0.5 into -0.5
13.275 * [taylor]: Taking taylor expansion of phi1 in lambda1
13.275 * [backup-simplify]: Simplify phi1 into phi1
13.275 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.275 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.275 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in lambda1
13.275 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
13.275 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.275 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.275 * [backup-simplify]: Simplify -0.5 into -0.5
13.275 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.275 * [backup-simplify]: Simplify phi2 into phi2
13.275 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.276 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.276 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
13.276 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
13.276 * [taylor]: Taking taylor expansion of -0.5 in lambda1
13.276 * [backup-simplify]: Simplify -0.5 into -0.5
13.276 * [taylor]: Taking taylor expansion of phi2 in lambda1
13.276 * [backup-simplify]: Simplify phi2 into phi2
13.276 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
13.276 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.276 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.276 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.276 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.276 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.276 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.277 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.277 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.277 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.278 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.278 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.278 * [backup-simplify]: Simplify (- 0) into 0
13.278 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.278 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.278 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.278 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.279 * [backup-simplify]: Simplify (- 0) into 0
13.279 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.279 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))
13.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
13.280 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
13.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.280 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.280 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.280 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.280 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.288 * [backup-simplify]: Simplify (- 0) into 0
13.289 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.289 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
13.289 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
13.289 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
13.289 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
13.289 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
13.290 * [backup-simplify]: Simplify (- 0) into 0
13.290 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
13.290 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))
13.290 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
13.290 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
13.291 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))
13.291 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))
13.293 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))
13.294 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))
13.294 * [backup-simplify]: Simplify (+ 0) into 0
13.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.295 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.296 * [backup-simplify]: Simplify (- 0) into 0
13.296 * [backup-simplify]: Simplify (+ 0 0) into 0
13.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.296 * [backup-simplify]: Simplify (+ 0) into 0
13.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.297 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.298 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.298 * [backup-simplify]: Simplify (- 0) into 0
13.298 * [backup-simplify]: Simplify (+ 0 0) into 0
13.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.298 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.299 * [backup-simplify]: Simplify (+ 0) into 0
13.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.299 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.300 * [backup-simplify]: Simplify (+ 0 0) into 0
13.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.301 * [backup-simplify]: Simplify (+ 0) into 0
13.301 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.301 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.302 * [backup-simplify]: Simplify (+ 0 0) into 0
13.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.303 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.303 * [backup-simplify]: Simplify (+ 0 0) into 0
13.303 * [backup-simplify]: Simplify (+ 0) into 0
13.303 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.304 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.304 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.305 * [backup-simplify]: Simplify (+ 0 0) into 0
13.305 * [backup-simplify]: Simplify (+ 0) into 0
13.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.305 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.306 * [backup-simplify]: Simplify (- 0) into 0
13.307 * [backup-simplify]: Simplify (+ 0 0) into 0
13.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.307 * [backup-simplify]: Simplify (+ 0) into 0
13.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.307 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.308 * [backup-simplify]: Simplify (+ 0 0) into 0
13.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0
13.309 * [backup-simplify]: Simplify (+ 0) into 0
13.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.309 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.310 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.310 * [backup-simplify]: Simplify (- 0) into 0
13.311 * [backup-simplify]: Simplify (+ 0 0) into 0
13.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
13.311 * [backup-simplify]: Simplify (+ 0) into 0
13.311 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.312 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.312 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.312 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.313 * [backup-simplify]: Simplify (- 0) into 0
13.313 * [backup-simplify]: Simplify (+ 0 0) into 0
13.313 * [backup-simplify]: Simplify (+ 0) into 0
13.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
13.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
13.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
13.315 * [backup-simplify]: Simplify (+ 0 0) into 0
13.315 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.315 * [backup-simplify]: Simplify (+ 0) into 0
13.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.316 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.316 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.317 * [backup-simplify]: Simplify (- 0) into 0
13.317 * [backup-simplify]: Simplify (+ 0 0) into 0
13.317 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0
13.318 * [backup-simplify]: Simplify (+ 0) into 0
13.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.318 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.318 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.319 * [backup-simplify]: Simplify (+ 0 0) into 0
13.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
13.319 * [backup-simplify]: Simplify (+ 0 0) into 0
13.320 * [backup-simplify]: Simplify (- 0) into 0
13.320 * [backup-simplify]: Simplify (+ 0 0) into 0
13.322 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into 0
13.322 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
13.322 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0
13.323 * [backup-simplify]: Simplify (+ 0) into 0
13.324 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
13.324 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
13.324 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
13.324 * [backup-simplify]: Simplify (+ 0 0) into 0
13.325 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
13.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.326 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
13.327 * [backup-simplify]: Simplify (- 0) into 0
13.327 * [backup-simplify]: Simplify (+ 0 0) into 0
13.328 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
13.328 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
13.329 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
13.329 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
13.329 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0
13.330 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.331 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.331 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.333 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.334 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.334 * [backup-simplify]: Simplify (- 0) into 0
13.334 * [backup-simplify]: Simplify (+ 0 0) into 0
13.335 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0
13.336 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.337 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.339 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.340 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.340 * [backup-simplify]: Simplify (- 0) into 0
13.340 * [backup-simplify]: Simplify (+ 0 0) into 0
13.341 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2)))))) into 0
13.342 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))))) into 0
13.344 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.346 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
13.347 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.348 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.350 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.351 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.351 * [backup-simplify]: Simplify (+ 0 0) into 0
13.352 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
13.353 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.354 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.356 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.357 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.357 * [backup-simplify]: Simplify (+ 0 0) into 0
13.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2)))))) into 0
13.359 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))))) into 0
13.360 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.363 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
13.363 * [backup-simplify]: Simplify (+ 0 0) into 0
13.363 * [backup-simplify]: Simplify (+ 0 0) into 0
13.364 * [backup-simplify]: Simplify (+ 0 0) into 0
13.364 * [backup-simplify]: Simplify (+ 0 0) into 0
13.365 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.366 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.367 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.369 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.369 * [backup-simplify]: Simplify (- 0) into 0
13.370 * [backup-simplify]: Simplify (+ 0 0) into 0
13.371 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.372 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.372 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.374 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.374 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.375 * [backup-simplify]: Simplify (+ 0 0) into 0
13.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0
13.377 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.378 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.381 * [backup-simplify]: Simplify (+ 0 0) into 0
13.382 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0
13.383 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.384 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.384 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.386 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.387 * [backup-simplify]: Simplify (- 0) into 0
13.387 * [backup-simplify]: Simplify (+ 0 0) into 0
13.388 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into 0
13.389 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.392 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
13.392 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
13.392 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0
13.393 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0
13.394 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.395 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.397 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.397 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.398 * [backup-simplify]: Simplify (+ 0 0) into 0
13.399 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.400 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.402 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.403 * [backup-simplify]: Simplify (- 0) into 0
13.404 * [backup-simplify]: Simplify (+ 0 0) into 0
13.405 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
13.405 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.408 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.409 * [backup-simplify]: Simplify (- 0) into 0
13.410 * [backup-simplify]: Simplify (+ 0 0) into 0
13.411 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
13.412 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
13.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.413 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.415 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
13.415 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
13.416 * [backup-simplify]: Simplify (+ 0 0) into 0
13.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into 0
13.418 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
13.420 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
13.421 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
13.422 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
13.422 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
13.422 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
13.423 * [backup-simplify]: Simplify (+ 0 0) into 0
13.424 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
13.431 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
13.432 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
13.433 * [backup-simplify]: Simplify (- 0) into 0
13.433 * [backup-simplify]: Simplify (+ 0 0) into 0
13.434 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
13.435 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0
13.436 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0
13.437 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0
13.437 * [backup-simplify]: Simplify (+ 0 0) into 0
13.438 * [backup-simplify]: Simplify (+ 0 0) into 0
13.438 * [backup-simplify]: Simplify (+ 0 0) into 0
13.438 * [backup-simplify]: Simplify (- 0) into 0
13.439 * [backup-simplify]: Simplify (+ 0 0) into 0
13.452 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 1/2 (* (- (+ (/ 1 (pow phi2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (* 2 (/ 1 (* phi2 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
13.453 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2
13.453 * [taylor]: Taking taylor expansion of 1/2 in phi2
13.453 * [backup-simplify]: Simplify 1/2 into 1/2
13.453 * [taylor]: Taking taylor expansion of (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
13.453 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) in phi2
13.453 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))))) in phi2
13.454 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) in phi2
13.454 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
13.454 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
13.454 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
13.454 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
13.454 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.454 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.454 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.454 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.454 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.454 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.454 * [backup-simplify]: Simplify -0.5 into -0.5
13.454 * [taylor]: Taking taylor expansion of phi2 in phi2
13.454 * [backup-simplify]: Simplify 0 into 0
13.454 * [backup-simplify]: Simplify 1 into 1
13.455 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.455 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.455 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.455 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.455 * [backup-simplify]: Simplify -0.5 into -0.5
13.455 * [taylor]: Taking taylor expansion of phi1 in phi2
13.455 * [backup-simplify]: Simplify phi1 into phi1
13.455 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.455 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.456 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.456 * [backup-simplify]: Simplify (- 0) into 0
13.456 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.456 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.456 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.456 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.456 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.456 * [backup-simplify]: Simplify -0.5 into -0.5
13.456 * [taylor]: Taking taylor expansion of phi2 in phi2
13.456 * [backup-simplify]: Simplify 0 into 0
13.456 * [backup-simplify]: Simplify 1 into 1
13.457 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.457 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.457 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.457 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.457 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.457 * [backup-simplify]: Simplify -0.5 into -0.5
13.457 * [taylor]: Taking taylor expansion of phi1 in phi2
13.457 * [backup-simplify]: Simplify phi1 into phi1
13.457 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.457 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.457 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.457 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.457 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.458 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.458 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
13.458 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.458 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.458 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.458 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.458 * [backup-simplify]: Simplify -0.5 into -0.5
13.458 * [taylor]: Taking taylor expansion of phi2 in phi2
13.458 * [backup-simplify]: Simplify 0 into 0
13.458 * [backup-simplify]: Simplify 1 into 1
13.458 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.458 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.458 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.458 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.458 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.458 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.459 * [backup-simplify]: Simplify -0.5 into -0.5
13.459 * [taylor]: Taking taylor expansion of phi2 in phi2
13.459 * [backup-simplify]: Simplify 0 into 0
13.459 * [backup-simplify]: Simplify 1 into 1
13.459 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.459 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.459 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.459 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.459 * [backup-simplify]: Simplify -0.5 into -0.5
13.459 * [taylor]: Taking taylor expansion of phi1 in phi2
13.459 * [backup-simplify]: Simplify phi1 into phi1
13.459 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.460 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.460 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.460 * [backup-simplify]: Simplify -0.5 into -0.5
13.460 * [taylor]: Taking taylor expansion of phi1 in phi2
13.460 * [backup-simplify]: Simplify phi1 into phi1
13.460 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.460 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.460 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.460 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.460 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.460 * [backup-simplify]: Simplify -0.5 into -0.5
13.460 * [taylor]: Taking taylor expansion of phi2 in phi2
13.460 * [backup-simplify]: Simplify 0 into 0
13.460 * [backup-simplify]: Simplify 1 into 1
13.461 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.461 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.461 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.461 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.461 * [backup-simplify]: Simplify -0.5 into -0.5
13.461 * [taylor]: Taking taylor expansion of phi2 in phi2
13.461 * [backup-simplify]: Simplify 0 into 0
13.461 * [backup-simplify]: Simplify 1 into 1
13.461 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.461 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.461 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.462 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.462 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.462 * [backup-simplify]: Simplify -0.5 into -0.5
13.462 * [taylor]: Taking taylor expansion of phi1 in phi2
13.462 * [backup-simplify]: Simplify phi1 into phi1
13.462 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.462 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.462 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.462 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.462 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.462 * [backup-simplify]: Simplify -0.5 into -0.5
13.462 * [taylor]: Taking taylor expansion of phi1 in phi2
13.462 * [backup-simplify]: Simplify phi1 into phi1
13.462 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.462 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.462 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.462 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
13.462 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.462 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.463 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.463 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.463 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.463 * [backup-simplify]: Simplify -0.5 into -0.5
13.463 * [taylor]: Taking taylor expansion of phi2 in phi2
13.463 * [backup-simplify]: Simplify 0 into 0
13.463 * [backup-simplify]: Simplify 1 into 1
13.463 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.463 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.463 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.463 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.463 * [backup-simplify]: Simplify -0.5 into -0.5
13.463 * [taylor]: Taking taylor expansion of phi1 in phi2
13.464 * [backup-simplify]: Simplify phi1 into phi1
13.464 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.464 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.464 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.464 * [backup-simplify]: Simplify (- 0) into 0
13.464 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.465 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.465 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.465 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.465 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.465 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.465 * [backup-simplify]: Simplify -0.5 into -0.5
13.465 * [taylor]: Taking taylor expansion of phi2 in phi2
13.465 * [backup-simplify]: Simplify 0 into 0
13.465 * [backup-simplify]: Simplify 1 into 1
13.465 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.465 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.465 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.465 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.465 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.465 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.466 * [backup-simplify]: Simplify -0.5 into -0.5
13.466 * [taylor]: Taking taylor expansion of phi1 in phi2
13.466 * [backup-simplify]: Simplify phi1 into phi1
13.466 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.466 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.466 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.466 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
13.466 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.466 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.466 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.466 * [backup-simplify]: Simplify -0.5 into -0.5
13.466 * [taylor]: Taking taylor expansion of phi2 in phi2
13.466 * [backup-simplify]: Simplify 0 into 0
13.466 * [backup-simplify]: Simplify 1 into 1
13.467 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.467 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.467 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.467 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.467 * [backup-simplify]: Simplify -0.5 into -0.5
13.467 * [taylor]: Taking taylor expansion of phi2 in phi2
13.467 * [backup-simplify]: Simplify 0 into 0
13.467 * [backup-simplify]: Simplify 1 into 1
13.468 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.468 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.468 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.468 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.468 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.468 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.468 * [backup-simplify]: Simplify -0.5 into -0.5
13.468 * [taylor]: Taking taylor expansion of phi1 in phi2
13.468 * [backup-simplify]: Simplify phi1 into phi1
13.468 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.468 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.468 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.468 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.468 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.468 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.468 * [backup-simplify]: Simplify -0.5 into -0.5
13.468 * [taylor]: Taking taylor expansion of phi1 in phi2
13.469 * [backup-simplify]: Simplify phi1 into phi1
13.469 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.469 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.469 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.469 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.469 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.469 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.469 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.469 * [backup-simplify]: Simplify -0.5 into -0.5
13.469 * [taylor]: Taking taylor expansion of phi2 in phi2
13.469 * [backup-simplify]: Simplify 0 into 0
13.469 * [backup-simplify]: Simplify 1 into 1
13.470 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.470 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.470 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.470 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.470 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.470 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.470 * [backup-simplify]: Simplify -0.5 into -0.5
13.470 * [taylor]: Taking taylor expansion of phi2 in phi2
13.470 * [backup-simplify]: Simplify 0 into 0
13.470 * [backup-simplify]: Simplify 1 into 1
13.470 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.470 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.470 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.471 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.471 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.471 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.471 * [backup-simplify]: Simplify -0.5 into -0.5
13.471 * [taylor]: Taking taylor expansion of phi1 in phi2
13.471 * [backup-simplify]: Simplify phi1 into phi1
13.471 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.471 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.471 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.471 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.471 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.471 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.471 * [backup-simplify]: Simplify -0.5 into -0.5
13.471 * [taylor]: Taking taylor expansion of phi1 in phi2
13.471 * [backup-simplify]: Simplify phi1 into phi1
13.471 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.471 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.471 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.472 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.472 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.472 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.473 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.473 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.474 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.475 * [backup-simplify]: Simplify (- 0) into 0
13.475 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.475 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.476 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.476 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.476 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.476 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.477 * [backup-simplify]: Simplify (- 0) into 0
13.477 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.477 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.478 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.478 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.480 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.482 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.483 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.484 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.484 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.485 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.485 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.486 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.486 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.486 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.487 * [backup-simplify]: Simplify (- 0) into 0
13.487 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.487 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.487 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.488 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.488 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.488 * [backup-simplify]: Simplify (- 0) into 0
13.488 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.489 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.489 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.489 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.490 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.491 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.494 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.498 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
13.502 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.507 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
13.508 * [backup-simplify]: Simplify (+ 0) into 0
13.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.508 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.510 * [backup-simplify]: Simplify (- 0) into 0
13.511 * [backup-simplify]: Simplify (+ 0 0) into 0
13.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.512 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.512 * [backup-simplify]: Simplify (+ 0) into 0
13.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.513 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.515 * [backup-simplify]: Simplify (+ 0 0) into 0
13.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.516 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.516 * [backup-simplify]: Simplify (+ 0 0) into 0
13.517 * [backup-simplify]: Simplify (+ 0) into 0
13.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.517 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.519 * [backup-simplify]: Simplify (- 0) into 0
13.519 * [backup-simplify]: Simplify (+ 0 0) into 0
13.520 * [backup-simplify]: Simplify (+ 0) into 0
13.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.520 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.521 * [backup-simplify]: Simplify (+ 0 0) into 0
13.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.522 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.522 * [backup-simplify]: Simplify (+ 0) into 0
13.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.523 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.523 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.524 * [backup-simplify]: Simplify (+ 0 0) into 0
13.524 * [backup-simplify]: Simplify (+ 0) into 0
13.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.525 * [backup-simplify]: Simplify (- 0) into 0
13.526 * [backup-simplify]: Simplify (+ 0 0) into 0
13.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.526 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.526 * [backup-simplify]: Simplify (+ 0 0) into 0
13.527 * [backup-simplify]: Simplify (- 0) into 0
13.527 * [backup-simplify]: Simplify (+ 0 0) into 0
13.527 * [backup-simplify]: Simplify (+ 0) into 0
13.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.529 * [backup-simplify]: Simplify (- 0) into 0
13.529 * [backup-simplify]: Simplify (+ 0 0) into 0
13.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.529 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.529 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.530 * [backup-simplify]: Simplify (+ 0) into 0
13.530 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.530 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.531 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.531 * [backup-simplify]: Simplify (+ 0 0) into 0
13.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.532 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.532 * [backup-simplify]: Simplify (+ 0 0) into 0
13.532 * [backup-simplify]: Simplify (+ 0) into 0
13.532 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.533 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.533 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.533 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.534 * [backup-simplify]: Simplify (+ 0 0) into 0
13.534 * [backup-simplify]: Simplify (+ 0) into 0
13.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.534 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.535 * [backup-simplify]: Simplify (- 0) into 0
13.536 * [backup-simplify]: Simplify (+ 0 0) into 0
13.536 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.536 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.536 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.536 * [backup-simplify]: Simplify (+ 0) into 0
13.537 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.537 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.537 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.538 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.538 * [backup-simplify]: Simplify (- 0) into 0
13.538 * [backup-simplify]: Simplify (+ 0 0) into 0
13.538 * [backup-simplify]: Simplify (+ 0) into 0
13.539 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.539 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.539 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.540 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.540 * [backup-simplify]: Simplify (+ 0 0) into 0
13.540 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.540 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.540 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.541 * [backup-simplify]: Simplify (+ 0 0) into 0
13.541 * [backup-simplify]: Simplify (- 0) into 0
13.541 * [backup-simplify]: Simplify (+ 0 0) into 0
13.543 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
13.548 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
13.551 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
13.551 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2))) in phi2
13.551 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
13.551 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
13.551 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
13.551 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.551 * [backup-simplify]: Simplify -0.5 into -0.5
13.551 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
13.551 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.551 * [taylor]: Taking taylor expansion of phi1 in phi2
13.551 * [backup-simplify]: Simplify phi1 into phi1
13.552 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.552 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.552 * [taylor]: Taking taylor expansion of phi2 in phi2
13.552 * [backup-simplify]: Simplify 0 into 0
13.552 * [backup-simplify]: Simplify 1 into 1
13.552 * [backup-simplify]: Simplify (/ 1 1) into 1
13.552 * [backup-simplify]: Simplify (+ 0 1) into 1
13.553 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
13.553 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
13.553 * [taylor]: Taking taylor expansion of (* lambda1 (pow phi1 2)) in phi2
13.553 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.553 * [backup-simplify]: Simplify lambda1 into lambda1
13.553 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
13.553 * [taylor]: Taking taylor expansion of phi1 in phi2
13.553 * [backup-simplify]: Simplify phi1 into phi1
13.553 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
13.553 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
13.553 * [backup-simplify]: Simplify (* lambda1 (pow phi1 2)) into (* lambda1 (pow phi1 2))
13.554 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))
13.554 * [taylor]: Taking taylor expansion of (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3)))) in phi2
13.554 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2
13.554 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) in phi2
13.554 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
13.554 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
13.554 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
13.554 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.554 * [backup-simplify]: Simplify -0.5 into -0.5
13.554 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
13.554 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.554 * [taylor]: Taking taylor expansion of phi1 in phi2
13.554 * [backup-simplify]: Simplify phi1 into phi1
13.554 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.554 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.554 * [taylor]: Taking taylor expansion of phi2 in phi2
13.554 * [backup-simplify]: Simplify 0 into 0
13.554 * [backup-simplify]: Simplify 1 into 1
13.554 * [backup-simplify]: Simplify (/ 1 1) into 1
13.555 * [backup-simplify]: Simplify (+ 0 1) into 1
13.555 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
13.555 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
13.555 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda1) in phi2
13.555 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
13.555 * [taylor]: Taking taylor expansion of phi2 in phi2
13.555 * [backup-simplify]: Simplify 0 into 0
13.555 * [backup-simplify]: Simplify 1 into 1
13.555 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.555 * [backup-simplify]: Simplify lambda1 into lambda1
13.555 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
13.556 * [backup-simplify]: Simplify (* 1 1) into 1
13.556 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
13.556 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
13.556 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2
13.556 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2
13.556 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
13.556 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
13.556 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.556 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.556 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.556 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.556 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.556 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.556 * [backup-simplify]: Simplify -0.5 into -0.5
13.556 * [taylor]: Taking taylor expansion of phi2 in phi2
13.556 * [backup-simplify]: Simplify 0 into 0
13.556 * [backup-simplify]: Simplify 1 into 1
13.557 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.557 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.557 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.557 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.557 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.557 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.557 * [backup-simplify]: Simplify -0.5 into -0.5
13.557 * [taylor]: Taking taylor expansion of phi1 in phi2
13.557 * [backup-simplify]: Simplify phi1 into phi1
13.557 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.557 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.557 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.557 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.557 * [backup-simplify]: Simplify (- 0) into 0
13.557 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.558 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.558 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.558 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.558 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.558 * [backup-simplify]: Simplify -0.5 into -0.5
13.558 * [taylor]: Taking taylor expansion of phi2 in phi2
13.558 * [backup-simplify]: Simplify 0 into 0
13.558 * [backup-simplify]: Simplify 1 into 1
13.558 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.558 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.558 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.558 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.558 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.558 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.558 * [backup-simplify]: Simplify -0.5 into -0.5
13.558 * [taylor]: Taking taylor expansion of phi1 in phi2
13.558 * [backup-simplify]: Simplify phi1 into phi1
13.558 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.558 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.558 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.558 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.558 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.559 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.559 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
13.559 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.559 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.559 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.559 * [backup-simplify]: Simplify -0.5 into -0.5
13.559 * [taylor]: Taking taylor expansion of phi2 in phi2
13.559 * [backup-simplify]: Simplify 0 into 0
13.559 * [backup-simplify]: Simplify 1 into 1
13.559 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.559 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.559 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.559 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.559 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.559 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.559 * [backup-simplify]: Simplify -0.5 into -0.5
13.559 * [taylor]: Taking taylor expansion of phi2 in phi2
13.559 * [backup-simplify]: Simplify 0 into 0
13.559 * [backup-simplify]: Simplify 1 into 1
13.560 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.560 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.560 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.560 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.560 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.560 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.560 * [backup-simplify]: Simplify -0.5 into -0.5
13.560 * [taylor]: Taking taylor expansion of phi1 in phi2
13.560 * [backup-simplify]: Simplify phi1 into phi1
13.560 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.560 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.560 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.560 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.560 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.560 * [backup-simplify]: Simplify -0.5 into -0.5
13.560 * [taylor]: Taking taylor expansion of phi1 in phi2
13.560 * [backup-simplify]: Simplify phi1 into phi1
13.560 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.560 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.560 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.560 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.560 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.560 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.560 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.560 * [backup-simplify]: Simplify -0.5 into -0.5
13.560 * [taylor]: Taking taylor expansion of phi2 in phi2
13.560 * [backup-simplify]: Simplify 0 into 0
13.560 * [backup-simplify]: Simplify 1 into 1
13.561 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.561 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.561 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.561 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.561 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.561 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.561 * [backup-simplify]: Simplify -0.5 into -0.5
13.561 * [taylor]: Taking taylor expansion of phi2 in phi2
13.561 * [backup-simplify]: Simplify 0 into 0
13.561 * [backup-simplify]: Simplify 1 into 1
13.561 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.561 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.561 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.561 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.561 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.561 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.561 * [backup-simplify]: Simplify -0.5 into -0.5
13.561 * [taylor]: Taking taylor expansion of phi1 in phi2
13.561 * [backup-simplify]: Simplify phi1 into phi1
13.561 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.561 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.561 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.561 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.561 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.561 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.562 * [backup-simplify]: Simplify -0.5 into -0.5
13.562 * [taylor]: Taking taylor expansion of phi1 in phi2
13.562 * [backup-simplify]: Simplify phi1 into phi1
13.562 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.562 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.562 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.562 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
13.562 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.562 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.562 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.562 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.562 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.562 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.562 * [backup-simplify]: Simplify -0.5 into -0.5
13.562 * [taylor]: Taking taylor expansion of phi2 in phi2
13.562 * [backup-simplify]: Simplify 0 into 0
13.562 * [backup-simplify]: Simplify 1 into 1
13.562 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.562 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.562 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.562 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.562 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.562 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.562 * [backup-simplify]: Simplify -0.5 into -0.5
13.562 * [taylor]: Taking taylor expansion of phi1 in phi2
13.562 * [backup-simplify]: Simplify phi1 into phi1
13.562 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.563 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.563 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.563 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.563 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.563 * [backup-simplify]: Simplify (- 0) into 0
13.563 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.563 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.563 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.563 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.563 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.563 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.563 * [backup-simplify]: Simplify -0.5 into -0.5
13.563 * [taylor]: Taking taylor expansion of phi2 in phi2
13.563 * [backup-simplify]: Simplify 0 into 0
13.563 * [backup-simplify]: Simplify 1 into 1
13.564 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.564 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.564 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.564 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.564 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.564 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.564 * [backup-simplify]: Simplify -0.5 into -0.5
13.564 * [taylor]: Taking taylor expansion of phi1 in phi2
13.564 * [backup-simplify]: Simplify phi1 into phi1
13.564 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.564 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.564 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.564 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.564 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.564 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.564 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
13.564 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.564 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.564 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.564 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.564 * [backup-simplify]: Simplify -0.5 into -0.5
13.564 * [taylor]: Taking taylor expansion of phi2 in phi2
13.564 * [backup-simplify]: Simplify 0 into 0
13.564 * [backup-simplify]: Simplify 1 into 1
13.565 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.565 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.565 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.565 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.565 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.565 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.565 * [backup-simplify]: Simplify -0.5 into -0.5
13.565 * [taylor]: Taking taylor expansion of phi2 in phi2
13.565 * [backup-simplify]: Simplify 0 into 0
13.565 * [backup-simplify]: Simplify 1 into 1
13.565 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.565 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.565 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.565 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.565 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.565 * [backup-simplify]: Simplify -0.5 into -0.5
13.565 * [taylor]: Taking taylor expansion of phi1 in phi2
13.565 * [backup-simplify]: Simplify phi1 into phi1
13.565 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.565 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.565 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.565 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.565 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.565 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.566 * [backup-simplify]: Simplify -0.5 into -0.5
13.566 * [taylor]: Taking taylor expansion of phi1 in phi2
13.566 * [backup-simplify]: Simplify phi1 into phi1
13.566 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.566 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.566 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.566 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.566 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.566 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.566 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.566 * [backup-simplify]: Simplify -0.5 into -0.5
13.566 * [taylor]: Taking taylor expansion of phi2 in phi2
13.566 * [backup-simplify]: Simplify 0 into 0
13.566 * [backup-simplify]: Simplify 1 into 1
13.566 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.566 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.566 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.566 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.566 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.566 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.566 * [backup-simplify]: Simplify -0.5 into -0.5
13.566 * [taylor]: Taking taylor expansion of phi2 in phi2
13.566 * [backup-simplify]: Simplify 0 into 0
13.566 * [backup-simplify]: Simplify 1 into 1
13.567 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.567 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.567 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.567 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.567 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.567 * [backup-simplify]: Simplify -0.5 into -0.5
13.567 * [taylor]: Taking taylor expansion of phi1 in phi2
13.567 * [backup-simplify]: Simplify phi1 into phi1
13.567 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.567 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.567 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.567 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.567 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.567 * [backup-simplify]: Simplify -0.5 into -0.5
13.567 * [taylor]: Taking taylor expansion of phi1 in phi2
13.567 * [backup-simplify]: Simplify phi1 into phi1
13.567 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.567 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.567 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.567 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.568 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.568 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.568 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.568 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.569 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.569 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.569 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.569 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.569 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.569 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.569 * [backup-simplify]: Simplify (- 0) into 0
13.569 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.569 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.570 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.570 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.570 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.570 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.570 * [backup-simplify]: Simplify (- 0) into 0
13.570 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.570 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.570 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.570 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.571 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.571 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.571 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.572 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.573 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.574 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.574 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.575 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.575 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.575 * [backup-simplify]: Simplify (- 0) into 0
13.575 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.575 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.576 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.576 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.577 * [backup-simplify]: Simplify (- 0) into 0
13.577 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.577 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.578 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.578 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.579 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.582 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
13.592 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.597 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
13.598 * [backup-simplify]: Simplify (+ 0) into 0
13.598 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.599 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.599 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.600 * [backup-simplify]: Simplify (- 0) into 0
13.601 * [backup-simplify]: Simplify (+ 0 0) into 0
13.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.601 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.602 * [backup-simplify]: Simplify (+ 0) into 0
13.602 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.603 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.604 * [backup-simplify]: Simplify (+ 0 0) into 0
13.604 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.605 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.605 * [backup-simplify]: Simplify (+ 0 0) into 0
13.606 * [backup-simplify]: Simplify (+ 0) into 0
13.606 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.606 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.607 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.608 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.608 * [backup-simplify]: Simplify (+ 0 0) into 0
13.609 * [backup-simplify]: Simplify (+ 0) into 0
13.609 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.609 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.610 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.610 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.611 * [backup-simplify]: Simplify (- 0) into 0
13.611 * [backup-simplify]: Simplify (+ 0 0) into 0
13.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.612 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.613 * [backup-simplify]: Simplify (+ 0) into 0
13.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.613 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.614 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.615 * [backup-simplify]: Simplify (- 0) into 0
13.615 * [backup-simplify]: Simplify (+ 0 0) into 0
13.616 * [backup-simplify]: Simplify (+ 0) into 0
13.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.616 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.617 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.618 * [backup-simplify]: Simplify (+ 0 0) into 0
13.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.618 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.619 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.619 * [backup-simplify]: Simplify (+ 0 0) into 0
13.620 * [backup-simplify]: Simplify (- 0) into 0
13.620 * [backup-simplify]: Simplify (+ 0 0) into 0
13.620 * [backup-simplify]: Simplify (+ 0) into 0
13.621 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.621 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.622 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.622 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.623 * [backup-simplify]: Simplify (- 0) into 0
13.623 * [backup-simplify]: Simplify (+ 0 0) into 0
13.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.624 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.624 * [backup-simplify]: Simplify (+ 0) into 0
13.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.627 * [backup-simplify]: Simplify (+ 0 0) into 0
13.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.628 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.628 * [backup-simplify]: Simplify (+ 0 0) into 0
13.628 * [backup-simplify]: Simplify (+ 0) into 0
13.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.629 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.630 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.630 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.631 * [backup-simplify]: Simplify (- 0) into 0
13.631 * [backup-simplify]: Simplify (+ 0 0) into 0
13.631 * [backup-simplify]: Simplify (+ 0) into 0
13.632 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.632 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.633 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.634 * [backup-simplify]: Simplify (+ 0 0) into 0
13.634 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.634 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.635 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.635 * [backup-simplify]: Simplify (+ 0) into 0
13.636 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.636 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.637 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.637 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.638 * [backup-simplify]: Simplify (+ 0 0) into 0
13.638 * [backup-simplify]: Simplify (+ 0) into 0
13.639 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.639 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.640 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.640 * [backup-simplify]: Simplify (- 0) into 0
13.641 * [backup-simplify]: Simplify (+ 0 0) into 0
13.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.642 * [backup-simplify]: Simplify (+ 0 0) into 0
13.643 * [backup-simplify]: Simplify (- 0) into 0
13.643 * [backup-simplify]: Simplify (+ 0 0) into 0
13.648 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
13.657 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
13.662 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
13.662 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))) in phi2
13.662 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
13.662 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
13.662 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
13.662 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
13.662 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.663 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.663 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.663 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.663 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.663 * [backup-simplify]: Simplify -0.5 into -0.5
13.663 * [taylor]: Taking taylor expansion of phi2 in phi2
13.663 * [backup-simplify]: Simplify 0 into 0
13.663 * [backup-simplify]: Simplify 1 into 1
13.663 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.664 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.664 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.664 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.664 * [backup-simplify]: Simplify -0.5 into -0.5
13.664 * [taylor]: Taking taylor expansion of phi1 in phi2
13.664 * [backup-simplify]: Simplify phi1 into phi1
13.664 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.665 * [backup-simplify]: Simplify (- 0) into 0
13.665 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.665 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.665 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.665 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.665 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.665 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.665 * [backup-simplify]: Simplify -0.5 into -0.5
13.665 * [taylor]: Taking taylor expansion of phi2 in phi2
13.665 * [backup-simplify]: Simplify 0 into 0
13.665 * [backup-simplify]: Simplify 1 into 1
13.666 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.666 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.666 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.666 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.666 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.666 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.666 * [backup-simplify]: Simplify -0.5 into -0.5
13.666 * [taylor]: Taking taylor expansion of phi1 in phi2
13.666 * [backup-simplify]: Simplify phi1 into phi1
13.666 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.666 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.666 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.667 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.667 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
13.667 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.667 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.667 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.667 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.667 * [backup-simplify]: Simplify -0.5 into -0.5
13.667 * [taylor]: Taking taylor expansion of phi2 in phi2
13.667 * [backup-simplify]: Simplify 0 into 0
13.667 * [backup-simplify]: Simplify 1 into 1
13.668 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.668 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.668 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.668 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.668 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.668 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.668 * [backup-simplify]: Simplify -0.5 into -0.5
13.668 * [taylor]: Taking taylor expansion of phi2 in phi2
13.668 * [backup-simplify]: Simplify 0 into 0
13.668 * [backup-simplify]: Simplify 1 into 1
13.668 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.668 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.669 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.669 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.669 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.669 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.669 * [backup-simplify]: Simplify -0.5 into -0.5
13.669 * [taylor]: Taking taylor expansion of phi1 in phi2
13.669 * [backup-simplify]: Simplify phi1 into phi1
13.669 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.669 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.669 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.669 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.669 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.669 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.669 * [backup-simplify]: Simplify -0.5 into -0.5
13.669 * [taylor]: Taking taylor expansion of phi1 in phi2
13.669 * [backup-simplify]: Simplify phi1 into phi1
13.669 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.669 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.669 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.669 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.670 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.670 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.670 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.670 * [backup-simplify]: Simplify -0.5 into -0.5
13.670 * [taylor]: Taking taylor expansion of phi2 in phi2
13.670 * [backup-simplify]: Simplify 0 into 0
13.670 * [backup-simplify]: Simplify 1 into 1
13.670 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.670 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.670 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.670 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.670 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.670 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.670 * [backup-simplify]: Simplify -0.5 into -0.5
13.671 * [taylor]: Taking taylor expansion of phi2 in phi2
13.671 * [backup-simplify]: Simplify 0 into 0
13.671 * [backup-simplify]: Simplify 1 into 1
13.671 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.671 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.671 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.671 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.671 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.671 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.671 * [backup-simplify]: Simplify -0.5 into -0.5
13.671 * [taylor]: Taking taylor expansion of phi1 in phi2
13.671 * [backup-simplify]: Simplify phi1 into phi1
13.671 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.672 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.672 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.672 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.672 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.672 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.672 * [backup-simplify]: Simplify -0.5 into -0.5
13.672 * [taylor]: Taking taylor expansion of phi1 in phi2
13.672 * [backup-simplify]: Simplify phi1 into phi1
13.672 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.672 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.672 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.672 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
13.672 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.672 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.672 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.672 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.672 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.672 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.672 * [backup-simplify]: Simplify -0.5 into -0.5
13.672 * [taylor]: Taking taylor expansion of phi2 in phi2
13.673 * [backup-simplify]: Simplify 0 into 0
13.673 * [backup-simplify]: Simplify 1 into 1
13.673 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.673 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.673 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.673 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.673 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.673 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.673 * [backup-simplify]: Simplify -0.5 into -0.5
13.673 * [taylor]: Taking taylor expansion of phi1 in phi2
13.673 * [backup-simplify]: Simplify phi1 into phi1
13.673 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.674 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.674 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.674 * [backup-simplify]: Simplify (- 0) into 0
13.674 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.675 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.675 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.675 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.675 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.675 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.675 * [backup-simplify]: Simplify -0.5 into -0.5
13.675 * [taylor]: Taking taylor expansion of phi2 in phi2
13.675 * [backup-simplify]: Simplify 0 into 0
13.675 * [backup-simplify]: Simplify 1 into 1
13.675 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.675 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.675 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.675 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.676 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.676 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.676 * [backup-simplify]: Simplify -0.5 into -0.5
13.676 * [taylor]: Taking taylor expansion of phi1 in phi2
13.676 * [backup-simplify]: Simplify phi1 into phi1
13.676 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.676 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.676 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.676 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.676 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.676 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.676 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
13.676 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.676 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.677 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.677 * [backup-simplify]: Simplify -0.5 into -0.5
13.677 * [taylor]: Taking taylor expansion of phi2 in phi2
13.677 * [backup-simplify]: Simplify 0 into 0
13.677 * [backup-simplify]: Simplify 1 into 1
13.677 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.677 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.677 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.677 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.677 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.677 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.677 * [backup-simplify]: Simplify -0.5 into -0.5
13.677 * [taylor]: Taking taylor expansion of phi2 in phi2
13.677 * [backup-simplify]: Simplify 0 into 0
13.678 * [backup-simplify]: Simplify 1 into 1
13.678 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.678 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.678 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.678 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.678 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.678 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.678 * [backup-simplify]: Simplify -0.5 into -0.5
13.678 * [taylor]: Taking taylor expansion of phi1 in phi2
13.678 * [backup-simplify]: Simplify phi1 into phi1
13.678 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.679 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.679 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.679 * [backup-simplify]: Simplify -0.5 into -0.5
13.679 * [taylor]: Taking taylor expansion of phi1 in phi2
13.679 * [backup-simplify]: Simplify phi1 into phi1
13.679 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.679 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.679 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.679 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.679 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.679 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.679 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.679 * [backup-simplify]: Simplify -0.5 into -0.5
13.679 * [taylor]: Taking taylor expansion of phi2 in phi2
13.679 * [backup-simplify]: Simplify 0 into 0
13.679 * [backup-simplify]: Simplify 1 into 1
13.680 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.680 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.680 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.680 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.680 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.680 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.680 * [backup-simplify]: Simplify -0.5 into -0.5
13.680 * [taylor]: Taking taylor expansion of phi2 in phi2
13.680 * [backup-simplify]: Simplify 0 into 0
13.680 * [backup-simplify]: Simplify 1 into 1
13.681 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.681 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.681 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.681 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.681 * [backup-simplify]: Simplify -0.5 into -0.5
13.681 * [taylor]: Taking taylor expansion of phi1 in phi2
13.681 * [backup-simplify]: Simplify phi1 into phi1
13.681 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.681 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.681 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.681 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.681 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.681 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.682 * [backup-simplify]: Simplify -0.5 into -0.5
13.682 * [taylor]: Taking taylor expansion of phi1 in phi2
13.682 * [backup-simplify]: Simplify phi1 into phi1
13.682 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.682 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.682 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.682 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.682 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.683 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.683 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.684 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.684 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.685 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.685 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.685 * [backup-simplify]: Simplify (- 0) into 0
13.685 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.686 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.686 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.686 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.687 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.687 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.687 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.687 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.687 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.687 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.688 * [backup-simplify]: Simplify (- 0) into 0
13.688 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.688 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.688 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.689 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.689 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.690 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.691 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.691 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.691 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.691 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.692 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.692 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.692 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.692 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.692 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.693 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.693 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.693 * [backup-simplify]: Simplify (- 0) into 0
13.693 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.693 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.693 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.694 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.694 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.694 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.694 * [backup-simplify]: Simplify (- 0) into 0
13.694 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.694 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.694 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.694 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.694 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.695 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.695 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.695 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.696 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.697 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.699 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
13.701 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.704 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
13.704 * [backup-simplify]: Simplify (+ 0) into 0
13.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.705 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.705 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.706 * [backup-simplify]: Simplify (- 0) into 0
13.706 * [backup-simplify]: Simplify (+ 0 0) into 0
13.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.706 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.707 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.707 * [backup-simplify]: Simplify (+ 0) into 0
13.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.707 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.708 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.708 * [backup-simplify]: Simplify (+ 0 0) into 0
13.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.709 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.709 * [backup-simplify]: Simplify (+ 0 0) into 0
13.709 * [backup-simplify]: Simplify (+ 0) into 0
13.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.711 * [backup-simplify]: Simplify (- 0) into 0
13.711 * [backup-simplify]: Simplify (+ 0 0) into 0
13.711 * [backup-simplify]: Simplify (+ 0) into 0
13.712 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.712 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.713 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.713 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.714 * [backup-simplify]: Simplify (+ 0 0) into 0
13.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.714 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.714 * [backup-simplify]: Simplify (+ 0) into 0
13.715 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.715 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.715 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.716 * [backup-simplify]: Simplify (+ 0 0) into 0
13.716 * [backup-simplify]: Simplify (+ 0) into 0
13.716 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.717 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.717 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.718 * [backup-simplify]: Simplify (- 0) into 0
13.718 * [backup-simplify]: Simplify (+ 0 0) into 0
13.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.719 * [backup-simplify]: Simplify (+ 0 0) into 0
13.719 * [backup-simplify]: Simplify (- 0) into 0
13.719 * [backup-simplify]: Simplify (+ 0 0) into 0
13.719 * [backup-simplify]: Simplify (+ 0) into 0
13.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.720 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.720 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.721 * [backup-simplify]: Simplify (- 0) into 0
13.721 * [backup-simplify]: Simplify (+ 0 0) into 0
13.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.722 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.722 * [backup-simplify]: Simplify (+ 0) into 0
13.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.723 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.725 * [backup-simplify]: Simplify (+ 0 0) into 0
13.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.726 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.726 * [backup-simplify]: Simplify (+ 0 0) into 0
13.727 * [backup-simplify]: Simplify (+ 0) into 0
13.727 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.727 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.728 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.729 * [backup-simplify]: Simplify (+ 0 0) into 0
13.729 * [backup-simplify]: Simplify (+ 0) into 0
13.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.730 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.732 * [backup-simplify]: Simplify (- 0) into 0
13.732 * [backup-simplify]: Simplify (+ 0 0) into 0
13.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.733 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.733 * [backup-simplify]: Simplify (+ 0) into 0
13.734 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.734 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.735 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.736 * [backup-simplify]: Simplify (- 0) into 0
13.736 * [backup-simplify]: Simplify (+ 0 0) into 0
13.737 * [backup-simplify]: Simplify (+ 0) into 0
13.737 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.737 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.739 * [backup-simplify]: Simplify (+ 0 0) into 0
13.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.740 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.740 * [backup-simplify]: Simplify (+ 0 0) into 0
13.741 * [backup-simplify]: Simplify (- 0) into 0
13.741 * [backup-simplify]: Simplify (+ 0 0) into 0
13.745 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
13.754 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
13.760 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
13.760 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3)) in phi2
13.760 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2
13.760 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
13.760 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
13.760 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.760 * [backup-simplify]: Simplify -0.5 into -0.5
13.760 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
13.760 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.760 * [taylor]: Taking taylor expansion of phi1 in phi2
13.760 * [backup-simplify]: Simplify phi1 into phi1
13.760 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.760 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.760 * [taylor]: Taking taylor expansion of phi2 in phi2
13.760 * [backup-simplify]: Simplify 0 into 0
13.760 * [backup-simplify]: Simplify 1 into 1
13.767 * [backup-simplify]: Simplify (/ 1 1) into 1
13.768 * [backup-simplify]: Simplify (+ 0 1) into 1
13.768 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
13.769 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
13.769 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
13.769 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.769 * [backup-simplify]: Simplify lambda1 into lambda1
13.769 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
13.770 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
13.770 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
13.770 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
13.771 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 3))
13.771 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))) in phi2
13.771 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) in phi2
13.771 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
13.771 * [taylor]: Taking taylor expansion of (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
13.771 * [taylor]: Taking taylor expansion of (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
13.771 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in phi2
13.771 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
13.771 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.771 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.771 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.772 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.772 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.772 * [backup-simplify]: Simplify -0.5 into -0.5
13.772 * [taylor]: Taking taylor expansion of phi2 in phi2
13.772 * [backup-simplify]: Simplify 0 into 0
13.772 * [backup-simplify]: Simplify 1 into 1
13.772 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.772 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.772 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.772 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.772 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.772 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.772 * [backup-simplify]: Simplify -0.5 into -0.5
13.773 * [taylor]: Taking taylor expansion of phi1 in phi2
13.773 * [backup-simplify]: Simplify phi1 into phi1
13.773 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.773 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.773 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.773 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.773 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.773 * [backup-simplify]: Simplify (- 0) into 0
13.773 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.773 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.773 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.773 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.773 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.773 * [backup-simplify]: Simplify -0.5 into -0.5
13.773 * [taylor]: Taking taylor expansion of phi2 in phi2
13.773 * [backup-simplify]: Simplify 0 into 0
13.773 * [backup-simplify]: Simplify 1 into 1
13.774 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.774 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.774 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.774 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.774 * [backup-simplify]: Simplify -0.5 into -0.5
13.774 * [taylor]: Taking taylor expansion of phi1 in phi2
13.774 * [backup-simplify]: Simplify phi1 into phi1
13.774 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.774 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.774 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.774 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.774 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
13.774 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.774 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.774 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.774 * [backup-simplify]: Simplify -0.5 into -0.5
13.774 * [taylor]: Taking taylor expansion of phi2 in phi2
13.774 * [backup-simplify]: Simplify 0 into 0
13.774 * [backup-simplify]: Simplify 1 into 1
13.775 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.775 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.775 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.775 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.775 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.775 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.775 * [backup-simplify]: Simplify -0.5 into -0.5
13.775 * [taylor]: Taking taylor expansion of phi2 in phi2
13.775 * [backup-simplify]: Simplify 0 into 0
13.775 * [backup-simplify]: Simplify 1 into 1
13.775 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.775 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.775 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.775 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.775 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.775 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.775 * [backup-simplify]: Simplify -0.5 into -0.5
13.775 * [taylor]: Taking taylor expansion of phi1 in phi2
13.775 * [backup-simplify]: Simplify phi1 into phi1
13.775 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.775 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.776 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.776 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.776 * [backup-simplify]: Simplify -0.5 into -0.5
13.776 * [taylor]: Taking taylor expansion of phi1 in phi2
13.776 * [backup-simplify]: Simplify phi1 into phi1
13.776 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.776 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.776 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.776 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.776 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.776 * [backup-simplify]: Simplify -0.5 into -0.5
13.776 * [taylor]: Taking taylor expansion of phi2 in phi2
13.776 * [backup-simplify]: Simplify 0 into 0
13.776 * [backup-simplify]: Simplify 1 into 1
13.776 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.776 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.776 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.776 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.776 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.776 * [backup-simplify]: Simplify -0.5 into -0.5
13.776 * [taylor]: Taking taylor expansion of phi2 in phi2
13.776 * [backup-simplify]: Simplify 0 into 0
13.776 * [backup-simplify]: Simplify 1 into 1
13.777 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.777 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.777 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.777 * [backup-simplify]: Simplify -0.5 into -0.5
13.777 * [taylor]: Taking taylor expansion of phi1 in phi2
13.777 * [backup-simplify]: Simplify phi1 into phi1
13.777 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.777 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.777 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.777 * [backup-simplify]: Simplify -0.5 into -0.5
13.777 * [taylor]: Taking taylor expansion of phi1 in phi2
13.777 * [backup-simplify]: Simplify phi1 into phi1
13.777 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.777 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.778 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.778 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.779 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.779 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.779 * [backup-simplify]: Simplify (- 0) into 0
13.779 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.779 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.779 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.780 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.780 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.780 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.781 * [backup-simplify]: Simplify (- 0) into 0
13.781 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.782 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.783 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.783 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
13.783 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.783 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.783 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.783 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.783 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.783 * [backup-simplify]: Simplify -0.5 into -0.5
13.783 * [taylor]: Taking taylor expansion of phi2 in phi2
13.783 * [backup-simplify]: Simplify 0 into 0
13.783 * [backup-simplify]: Simplify 1 into 1
13.784 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.784 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.784 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.784 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.784 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.784 * [backup-simplify]: Simplify -0.5 into -0.5
13.784 * [taylor]: Taking taylor expansion of phi1 in phi2
13.784 * [backup-simplify]: Simplify phi1 into phi1
13.784 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.784 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.784 * [backup-simplify]: Simplify (- 0) into 0
13.784 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.785 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.785 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.785 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.785 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.785 * [backup-simplify]: Simplify -0.5 into -0.5
13.785 * [taylor]: Taking taylor expansion of phi2 in phi2
13.785 * [backup-simplify]: Simplify 0 into 0
13.785 * [backup-simplify]: Simplify 1 into 1
13.785 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.785 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.785 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.785 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.785 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.785 * [backup-simplify]: Simplify -0.5 into -0.5
13.785 * [taylor]: Taking taylor expansion of phi1 in phi2
13.785 * [backup-simplify]: Simplify phi1 into phi1
13.785 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.785 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.785 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.785 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.785 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.786 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.786 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
13.786 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.786 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.786 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.786 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.786 * [backup-simplify]: Simplify -0.5 into -0.5
13.786 * [taylor]: Taking taylor expansion of phi2 in phi2
13.786 * [backup-simplify]: Simplify 0 into 0
13.786 * [backup-simplify]: Simplify 1 into 1
13.786 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.786 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.786 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.786 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.786 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.786 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.786 * [backup-simplify]: Simplify -0.5 into -0.5
13.786 * [taylor]: Taking taylor expansion of phi2 in phi2
13.786 * [backup-simplify]: Simplify 0 into 0
13.786 * [backup-simplify]: Simplify 1 into 1
13.786 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.787 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.787 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.787 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.787 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.787 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.787 * [backup-simplify]: Simplify -0.5 into -0.5
13.787 * [taylor]: Taking taylor expansion of phi1 in phi2
13.787 * [backup-simplify]: Simplify phi1 into phi1
13.787 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.787 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.787 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.787 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.787 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.787 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.787 * [backup-simplify]: Simplify -0.5 into -0.5
13.787 * [taylor]: Taking taylor expansion of phi1 in phi2
13.787 * [backup-simplify]: Simplify phi1 into phi1
13.787 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.787 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.787 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.787 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.787 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.787 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.787 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.787 * [backup-simplify]: Simplify -0.5 into -0.5
13.787 * [taylor]: Taking taylor expansion of phi2 in phi2
13.787 * [backup-simplify]: Simplify 0 into 0
13.787 * [backup-simplify]: Simplify 1 into 1
13.788 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.788 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.788 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.788 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.788 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.788 * [backup-simplify]: Simplify -0.5 into -0.5
13.788 * [taylor]: Taking taylor expansion of phi2 in phi2
13.788 * [backup-simplify]: Simplify 0 into 0
13.788 * [backup-simplify]: Simplify 1 into 1
13.788 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.788 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.788 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.788 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.788 * [backup-simplify]: Simplify -0.5 into -0.5
13.788 * [taylor]: Taking taylor expansion of phi1 in phi2
13.788 * [backup-simplify]: Simplify phi1 into phi1
13.788 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.788 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.788 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.788 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.788 * [backup-simplify]: Simplify -0.5 into -0.5
13.788 * [taylor]: Taking taylor expansion of phi1 in phi2
13.788 * [backup-simplify]: Simplify phi1 into phi1
13.789 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.789 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.789 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.791 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)
13.793 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))
13.793 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.793 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.794 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.794 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.794 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.794 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.794 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.794 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.795 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.795 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.795 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.795 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.795 * [backup-simplify]: Simplify (- 0) into 0
13.795 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.795 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.795 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.796 * [backup-simplify]: Simplify (- 0) into 0
13.796 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.796 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.796 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.796 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.797 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.797 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.798 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.799 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.804 * [backup-simplify]: Simplify (* (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.811 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))))
13.819 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.819 * [backup-simplify]: Simplify (+ 0) into 0
13.820 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.820 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.821 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.821 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.822 * [backup-simplify]: Simplify (- 0) into 0
13.822 * [backup-simplify]: Simplify (+ 0 0) into 0
13.822 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.823 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.823 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.823 * [backup-simplify]: Simplify (+ 0) into 0
13.824 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.824 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.825 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.825 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.826 * [backup-simplify]: Simplify (+ 0 0) into 0
13.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.826 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.827 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.827 * [backup-simplify]: Simplify (+ 0 0) into 0
13.827 * [backup-simplify]: Simplify (+ 0) into 0
13.828 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.828 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.829 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.829 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.829 * [backup-simplify]: Simplify (- 0) into 0
13.829 * [backup-simplify]: Simplify (+ 0 0) into 0
13.830 * [backup-simplify]: Simplify (+ 0) into 0
13.830 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.830 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.831 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.831 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.831 * [backup-simplify]: Simplify (+ 0 0) into 0
13.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.831 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.832 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.832 * [backup-simplify]: Simplify (+ 0) into 0
13.832 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.832 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.833 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.833 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.833 * [backup-simplify]: Simplify (+ 0 0) into 0
13.834 * [backup-simplify]: Simplify (+ 0) into 0
13.834 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.834 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.835 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.835 * [backup-simplify]: Simplify (- 0) into 0
13.835 * [backup-simplify]: Simplify (+ 0 0) into 0
13.835 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.836 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.836 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.836 * [backup-simplify]: Simplify (+ 0 0) into 0
13.836 * [backup-simplify]: Simplify (- 0) into 0
13.836 * [backup-simplify]: Simplify (+ 0 0) into 0
13.837 * [backup-simplify]: Simplify (+ 0) into 0
13.837 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.837 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.838 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.838 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.838 * [backup-simplify]: Simplify (- 0) into 0
13.838 * [backup-simplify]: Simplify (+ 0 0) into 0
13.839 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.839 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.839 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.839 * [backup-simplify]: Simplify (+ 0) into 0
13.839 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.840 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.840 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.840 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.841 * [backup-simplify]: Simplify (+ 0 0) into 0
13.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.841 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.841 * [backup-simplify]: Simplify (+ 0 0) into 0
13.842 * [backup-simplify]: Simplify (+ 0) into 0
13.842 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.842 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.842 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.843 * [backup-simplify]: Simplify (+ 0 0) into 0
13.843 * [backup-simplify]: Simplify (+ 0) into 0
13.844 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.844 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.844 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.844 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.845 * [backup-simplify]: Simplify (- 0) into 0
13.845 * [backup-simplify]: Simplify (+ 0 0) into 0
13.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.845 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.846 * [backup-simplify]: Simplify (+ 0) into 0
13.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.847 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.847 * [backup-simplify]: Simplify (- 0) into 0
13.847 * [backup-simplify]: Simplify (+ 0 0) into 0
13.848 * [backup-simplify]: Simplify (+ 0) into 0
13.848 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.848 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.848 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.849 * [backup-simplify]: Simplify (+ 0 0) into 0
13.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.849 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.850 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.850 * [backup-simplify]: Simplify (+ 0 0) into 0
13.850 * [backup-simplify]: Simplify (- 0) into 0
13.850 * [backup-simplify]: Simplify (+ 0 0) into 0
13.852 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
13.855 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0
13.860 * [backup-simplify]: Simplify (+ (* (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
13.870 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0
13.873 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))))))) into 0
13.873 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3)) in phi2
13.874 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) in phi2
13.874 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
13.874 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
13.874 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.874 * [backup-simplify]: Simplify -0.5 into -0.5
13.874 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
13.874 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.874 * [taylor]: Taking taylor expansion of phi1 in phi2
13.874 * [backup-simplify]: Simplify phi1 into phi1
13.874 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.874 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.874 * [taylor]: Taking taylor expansion of phi2 in phi2
13.874 * [backup-simplify]: Simplify 0 into 0
13.874 * [backup-simplify]: Simplify 1 into 1
13.874 * [backup-simplify]: Simplify (/ 1 1) into 1
13.874 * [backup-simplify]: Simplify (+ 0 1) into 1
13.875 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
13.875 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
13.875 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
13.875 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.875 * [backup-simplify]: Simplify lambda1 into lambda1
13.875 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
13.875 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)
13.876 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6)
13.876 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
13.876 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
13.876 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))
13.876 * [taylor]: Taking taylor expansion of (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) in phi2
13.876 * [taylor]: Taking taylor expansion of 2 in phi2
13.876 * [backup-simplify]: Simplify 2 into 2
13.876 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2
13.876 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) in phi2
13.876 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
13.876 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
13.876 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
13.876 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.876 * [backup-simplify]: Simplify -0.5 into -0.5
13.876 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
13.876 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
13.876 * [taylor]: Taking taylor expansion of phi1 in phi2
13.877 * [backup-simplify]: Simplify phi1 into phi1
13.877 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
13.877 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
13.877 * [taylor]: Taking taylor expansion of phi2 in phi2
13.877 * [backup-simplify]: Simplify 0 into 0
13.877 * [backup-simplify]: Simplify 1 into 1
13.877 * [backup-simplify]: Simplify (/ 1 1) into 1
13.877 * [backup-simplify]: Simplify (+ 0 1) into 1
13.878 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
13.878 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
13.878 * [taylor]: Taking taylor expansion of (* phi2 (* lambda1 phi1)) in phi2
13.878 * [taylor]: Taking taylor expansion of phi2 in phi2
13.878 * [backup-simplify]: Simplify 0 into 0
13.878 * [backup-simplify]: Simplify 1 into 1
13.878 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi2
13.878 * [taylor]: Taking taylor expansion of lambda1 in phi2
13.878 * [backup-simplify]: Simplify lambda1 into lambda1
13.878 * [taylor]: Taking taylor expansion of phi1 in phi2
13.878 * [backup-simplify]: Simplify phi1 into phi1
13.878 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
13.878 * [backup-simplify]: Simplify (* lambda1 phi1) into (* lambda1 phi1)
13.878 * [backup-simplify]: Simplify (* 0 (* lambda1 phi1)) into 0
13.878 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 phi1)) into 0
13.879 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 phi1))) into (* lambda1 phi1)
13.879 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))
13.879 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2
13.879 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2
13.879 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
13.879 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
13.879 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.879 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.879 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.879 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.879 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.879 * [backup-simplify]: Simplify -0.5 into -0.5
13.879 * [taylor]: Taking taylor expansion of phi2 in phi2
13.879 * [backup-simplify]: Simplify 0 into 0
13.879 * [backup-simplify]: Simplify 1 into 1
13.879 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.880 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.880 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.880 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.880 * [backup-simplify]: Simplify -0.5 into -0.5
13.880 * [taylor]: Taking taylor expansion of phi1 in phi2
13.880 * [backup-simplify]: Simplify phi1 into phi1
13.880 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.880 * [backup-simplify]: Simplify (- 0) into 0
13.880 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.880 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.880 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.880 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.880 * [backup-simplify]: Simplify -0.5 into -0.5
13.880 * [taylor]: Taking taylor expansion of phi2 in phi2
13.880 * [backup-simplify]: Simplify 0 into 0
13.881 * [backup-simplify]: Simplify 1 into 1
13.881 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.881 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.881 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.881 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.881 * [backup-simplify]: Simplify -0.5 into -0.5
13.881 * [taylor]: Taking taylor expansion of phi1 in phi2
13.881 * [backup-simplify]: Simplify phi1 into phi1
13.881 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.881 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.881 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
13.881 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.881 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.882 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.882 * [backup-simplify]: Simplify -0.5 into -0.5
13.882 * [taylor]: Taking taylor expansion of phi2 in phi2
13.882 * [backup-simplify]: Simplify 0 into 0
13.882 * [backup-simplify]: Simplify 1 into 1
13.882 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.882 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.882 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.882 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.882 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.882 * [backup-simplify]: Simplify -0.5 into -0.5
13.882 * [taylor]: Taking taylor expansion of phi2 in phi2
13.882 * [backup-simplify]: Simplify 0 into 0
13.882 * [backup-simplify]: Simplify 1 into 1
13.882 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.883 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.883 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.883 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.883 * [backup-simplify]: Simplify -0.5 into -0.5
13.883 * [taylor]: Taking taylor expansion of phi1 in phi2
13.883 * [backup-simplify]: Simplify phi1 into phi1
13.883 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.883 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.883 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.883 * [backup-simplify]: Simplify -0.5 into -0.5
13.883 * [taylor]: Taking taylor expansion of phi1 in phi2
13.883 * [backup-simplify]: Simplify phi1 into phi1
13.883 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.883 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.883 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.883 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.883 * [backup-simplify]: Simplify -0.5 into -0.5
13.883 * [taylor]: Taking taylor expansion of phi2 in phi2
13.883 * [backup-simplify]: Simplify 0 into 0
13.883 * [backup-simplify]: Simplify 1 into 1
13.884 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.884 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.884 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.884 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.884 * [backup-simplify]: Simplify -0.5 into -0.5
13.884 * [taylor]: Taking taylor expansion of phi2 in phi2
13.884 * [backup-simplify]: Simplify 0 into 0
13.884 * [backup-simplify]: Simplify 1 into 1
13.884 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.884 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.884 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.884 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.884 * [backup-simplify]: Simplify -0.5 into -0.5
13.884 * [taylor]: Taking taylor expansion of phi1 in phi2
13.884 * [backup-simplify]: Simplify phi1 into phi1
13.884 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.884 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.884 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.884 * [backup-simplify]: Simplify -0.5 into -0.5
13.884 * [taylor]: Taking taylor expansion of phi1 in phi2
13.885 * [backup-simplify]: Simplify phi1 into phi1
13.885 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.885 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.885 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.885 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
13.885 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.885 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.885 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.885 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.885 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.885 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.885 * [backup-simplify]: Simplify -0.5 into -0.5
13.885 * [taylor]: Taking taylor expansion of phi2 in phi2
13.885 * [backup-simplify]: Simplify 0 into 0
13.885 * [backup-simplify]: Simplify 1 into 1
13.885 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.885 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.885 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.885 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.885 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.885 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.885 * [backup-simplify]: Simplify -0.5 into -0.5
13.885 * [taylor]: Taking taylor expansion of phi1 in phi2
13.885 * [backup-simplify]: Simplify phi1 into phi1
13.885 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.885 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.886 * [backup-simplify]: Simplify (- 0) into 0
13.886 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.886 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.886 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.886 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.886 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.886 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.886 * [backup-simplify]: Simplify -0.5 into -0.5
13.886 * [taylor]: Taking taylor expansion of phi2 in phi2
13.886 * [backup-simplify]: Simplify 0 into 0
13.886 * [backup-simplify]: Simplify 1 into 1
13.886 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.886 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.887 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.887 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.887 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.887 * [backup-simplify]: Simplify -0.5 into -0.5
13.887 * [taylor]: Taking taylor expansion of phi1 in phi2
13.887 * [backup-simplify]: Simplify phi1 into phi1
13.887 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.887 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.887 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.887 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
13.887 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.887 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.887 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.887 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.887 * [backup-simplify]: Simplify -0.5 into -0.5
13.887 * [taylor]: Taking taylor expansion of phi2 in phi2
13.887 * [backup-simplify]: Simplify 0 into 0
13.887 * [backup-simplify]: Simplify 1 into 1
13.887 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.887 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.888 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.888 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.888 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.888 * [backup-simplify]: Simplify -0.5 into -0.5
13.888 * [taylor]: Taking taylor expansion of phi2 in phi2
13.888 * [backup-simplify]: Simplify 0 into 0
13.888 * [backup-simplify]: Simplify 1 into 1
13.888 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.888 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.888 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.888 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.888 * [backup-simplify]: Simplify -0.5 into -0.5
13.888 * [taylor]: Taking taylor expansion of phi1 in phi2
13.888 * [backup-simplify]: Simplify phi1 into phi1
13.888 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.888 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.888 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.888 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.888 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.888 * [backup-simplify]: Simplify -0.5 into -0.5
13.888 * [taylor]: Taking taylor expansion of phi1 in phi2
13.888 * [backup-simplify]: Simplify phi1 into phi1
13.888 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.888 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.889 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.889 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.889 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.889 * [backup-simplify]: Simplify -0.5 into -0.5
13.889 * [taylor]: Taking taylor expansion of phi2 in phi2
13.889 * [backup-simplify]: Simplify 0 into 0
13.889 * [backup-simplify]: Simplify 1 into 1
13.889 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.889 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.889 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.889 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.889 * [backup-simplify]: Simplify -0.5 into -0.5
13.889 * [taylor]: Taking taylor expansion of phi2 in phi2
13.889 * [backup-simplify]: Simplify 0 into 0
13.889 * [backup-simplify]: Simplify 1 into 1
13.889 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.890 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.890 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.890 * [backup-simplify]: Simplify -0.5 into -0.5
13.890 * [taylor]: Taking taylor expansion of phi1 in phi2
13.890 * [backup-simplify]: Simplify phi1 into phi1
13.890 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.890 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.890 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.890 * [backup-simplify]: Simplify -0.5 into -0.5
13.890 * [taylor]: Taking taylor expansion of phi1 in phi2
13.890 * [backup-simplify]: Simplify phi1 into phi1
13.890 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.890 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.890 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.890 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.891 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.891 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.892 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.892 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.892 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.892 * [backup-simplify]: Simplify (- 0) into 0
13.892 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.892 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.893 * [backup-simplify]: Simplify (- 0) into 0
13.893 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.893 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.895 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.896 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.896 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.896 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.896 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.896 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.897 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.897 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.901 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.901 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.902 * [backup-simplify]: Simplify (- 0) into 0
13.902 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.902 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.902 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.902 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.903 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.903 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.904 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.904 * [backup-simplify]: Simplify (- 0) into 0
13.904 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.905 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.905 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.907 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.909 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.913 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
13.917 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.922 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
13.922 * [backup-simplify]: Simplify (+ 0) into 0
13.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.923 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.925 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.925 * [backup-simplify]: Simplify (- 0) into 0
13.925 * [backup-simplify]: Simplify (+ 0 0) into 0
13.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.926 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.926 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.927 * [backup-simplify]: Simplify (+ 0) into 0
13.927 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.927 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.928 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.929 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.929 * [backup-simplify]: Simplify (+ 0 0) into 0
13.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.929 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.929 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.930 * [backup-simplify]: Simplify (+ 0 0) into 0
13.930 * [backup-simplify]: Simplify (+ 0) into 0
13.930 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.930 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.931 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.931 * [backup-simplify]: Simplify (+ 0 0) into 0
13.932 * [backup-simplify]: Simplify (+ 0) into 0
13.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.933 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.933 * [backup-simplify]: Simplify (- 0) into 0
13.933 * [backup-simplify]: Simplify (+ 0 0) into 0
13.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.934 * [backup-simplify]: Simplify (+ 0) into 0
13.934 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.935 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.935 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.936 * [backup-simplify]: Simplify (- 0) into 0
13.936 * [backup-simplify]: Simplify (+ 0 0) into 0
13.936 * [backup-simplify]: Simplify (+ 0) into 0
13.936 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.936 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.937 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.937 * [backup-simplify]: Simplify (+ 0 0) into 0
13.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.938 * [backup-simplify]: Simplify (+ 0 0) into 0
13.938 * [backup-simplify]: Simplify (- 0) into 0
13.939 * [backup-simplify]: Simplify (+ 0 0) into 0
13.939 * [backup-simplify]: Simplify (+ 0) into 0
13.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.939 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.940 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.940 * [backup-simplify]: Simplify (- 0) into 0
13.941 * [backup-simplify]: Simplify (+ 0 0) into 0
13.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.941 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.941 * [backup-simplify]: Simplify (+ 0) into 0
13.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.942 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.942 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.942 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.943 * [backup-simplify]: Simplify (+ 0 0) into 0
13.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.943 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
13.943 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
13.943 * [backup-simplify]: Simplify (+ 0 0) into 0
13.944 * [backup-simplify]: Simplify (+ 0) into 0
13.944 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.944 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.945 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.945 * [backup-simplify]: Simplify (- 0) into 0
13.945 * [backup-simplify]: Simplify (+ 0 0) into 0
13.946 * [backup-simplify]: Simplify (+ 0) into 0
13.946 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.946 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.947 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.947 * [backup-simplify]: Simplify (+ 0 0) into 0
13.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.947 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
13.948 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
13.948 * [backup-simplify]: Simplify (+ 0) into 0
13.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.948 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.949 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.949 * [backup-simplify]: Simplify (+ 0 0) into 0
13.950 * [backup-simplify]: Simplify (+ 0) into 0
13.950 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.950 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.950 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.951 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.951 * [backup-simplify]: Simplify (- 0) into 0
13.951 * [backup-simplify]: Simplify (+ 0 0) into 0
13.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
13.952 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
13.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
13.952 * [backup-simplify]: Simplify (+ 0 0) into 0
13.952 * [backup-simplify]: Simplify (- 0) into 0
13.952 * [backup-simplify]: Simplify (+ 0 0) into 0
13.955 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
13.962 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
13.967 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
13.967 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
13.967 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
13.967 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
13.967 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
13.967 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
13.967 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
13.967 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.967 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.968 * [backup-simplify]: Simplify -0.5 into -0.5
13.968 * [taylor]: Taking taylor expansion of phi2 in phi2
13.968 * [backup-simplify]: Simplify 0 into 0
13.968 * [backup-simplify]: Simplify 1 into 1
13.968 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.968 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
13.969 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.969 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.969 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.969 * [backup-simplify]: Simplify -0.5 into -0.5
13.969 * [taylor]: Taking taylor expansion of phi1 in phi2
13.969 * [backup-simplify]: Simplify phi1 into phi1
13.969 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.969 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.969 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.970 * [backup-simplify]: Simplify (- 0) into 0
13.970 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.970 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
13.970 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
13.970 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.970 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.970 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.970 * [backup-simplify]: Simplify -0.5 into -0.5
13.970 * [taylor]: Taking taylor expansion of phi2 in phi2
13.970 * [backup-simplify]: Simplify 0 into 0
13.970 * [backup-simplify]: Simplify 1 into 1
13.970 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.971 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
13.971 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.971 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.971 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.971 * [backup-simplify]: Simplify -0.5 into -0.5
13.971 * [taylor]: Taking taylor expansion of phi1 in phi2
13.971 * [backup-simplify]: Simplify phi1 into phi1
13.971 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.971 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.971 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.971 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.971 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.971 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
13.972 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
13.972 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.972 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.972 * [backup-simplify]: Simplify -0.5 into -0.5
13.972 * [taylor]: Taking taylor expansion of phi2 in phi2
13.972 * [backup-simplify]: Simplify 0 into 0
13.972 * [backup-simplify]: Simplify 1 into 1
13.972 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.972 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.972 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
13.972 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.972 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.973 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.973 * [backup-simplify]: Simplify -0.5 into -0.5
13.973 * [taylor]: Taking taylor expansion of phi2 in phi2
13.973 * [backup-simplify]: Simplify 0 into 0
13.973 * [backup-simplify]: Simplify 1 into 1
13.973 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.973 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.973 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
13.973 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.973 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.973 * [backup-simplify]: Simplify -0.5 into -0.5
13.973 * [taylor]: Taking taylor expansion of phi1 in phi2
13.973 * [backup-simplify]: Simplify phi1 into phi1
13.974 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.974 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.974 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.974 * [backup-simplify]: Simplify -0.5 into -0.5
13.974 * [taylor]: Taking taylor expansion of phi1 in phi2
13.974 * [backup-simplify]: Simplify phi1 into phi1
13.974 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.974 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.974 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
13.974 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
13.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.974 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.974 * [backup-simplify]: Simplify -0.5 into -0.5
13.974 * [taylor]: Taking taylor expansion of phi2 in phi2
13.974 * [backup-simplify]: Simplify 0 into 0
13.975 * [backup-simplify]: Simplify 1 into 1
13.975 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
13.975 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
13.975 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
13.975 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
13.975 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.975 * [backup-simplify]: Simplify -0.5 into -0.5
13.975 * [taylor]: Taking taylor expansion of phi2 in phi2
13.975 * [backup-simplify]: Simplify 0 into 0
13.975 * [backup-simplify]: Simplify 1 into 1
13.976 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
13.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
13.976 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
13.976 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
13.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.976 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.976 * [backup-simplify]: Simplify -0.5 into -0.5
13.976 * [taylor]: Taking taylor expansion of phi1 in phi2
13.976 * [backup-simplify]: Simplify phi1 into phi1
13.976 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.976 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.977 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.977 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
13.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
13.977 * [taylor]: Taking taylor expansion of -0.5 in phi2
13.977 * [backup-simplify]: Simplify -0.5 into -0.5
13.977 * [taylor]: Taking taylor expansion of phi1 in phi2
13.977 * [backup-simplify]: Simplify phi1 into phi1
13.977 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
13.977 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
13.977 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
13.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
13.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
13.978 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
13.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
13.978 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
13.979 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
13.979 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
13.980 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.980 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.980 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.980 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.981 * [backup-simplify]: Simplify (- 0) into 0
13.981 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
13.981 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
13.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
13.982 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
13.982 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
13.982 * [backup-simplify]: Simplify (- 0) into 0
13.983 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
13.983 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
13.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
13.983 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
13.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
13.983 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
13.984 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
13.985 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
13.986 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.989 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
13.991 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
13.993 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
13.994 * [backup-simplify]: Simplify (+ 0) into 0
13.994 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.995 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
13.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
13.996 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
13.996 * [backup-simplify]: Simplify (- 0) into 0
13.997 * [backup-simplify]: Simplify (+ 0 0) into 0
13.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
13.997 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
13.998 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
13.998 * [backup-simplify]: Simplify (+ 0) into 0
13.999 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
13.999 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.000 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.001 * [backup-simplify]: Simplify (+ 0 0) into 0
14.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.001 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.001 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
14.002 * [backup-simplify]: Simplify (+ 0 0) into 0
14.002 * [backup-simplify]: Simplify (+ 0) into 0
14.003 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.004 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.005 * [backup-simplify]: Simplify (- 0) into 0
14.005 * [backup-simplify]: Simplify (+ 0 0) into 0
14.005 * [backup-simplify]: Simplify (+ 0) into 0
14.006 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.006 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.007 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.008 * [backup-simplify]: Simplify (+ 0 0) into 0
14.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.008 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
14.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
14.009 * [backup-simplify]: Simplify (+ 0) into 0
14.009 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.010 * [backup-simplify]: Simplify (+ 0 0) into 0
14.011 * [backup-simplify]: Simplify (+ 0) into 0
14.011 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.011 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.012 * [backup-simplify]: Simplify (- 0) into 0
14.012 * [backup-simplify]: Simplify (+ 0 0) into 0
14.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.013 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
14.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
14.013 * [backup-simplify]: Simplify (+ 0 0) into 0
14.013 * [backup-simplify]: Simplify (- 0) into 0
14.013 * [backup-simplify]: Simplify (+ 0 0) into 0
14.016 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
14.017 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
14.020 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
14.022 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 0) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
14.025 * [backup-simplify]: Simplify (+ 0 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
14.028 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 0) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
14.028 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
14.029 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
14.029 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
14.029 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
14.032 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 0) (* 0 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
14.033 * [backup-simplify]: Simplify (+ 0 0) into 0
14.033 * [backup-simplify]: Simplify (+ 0 0) into 0
14.035 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))
14.040 * [backup-simplify]: Simplify (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))) into (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))
14.045 * [backup-simplify]: Simplify (+ 0 (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) into (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))
14.057 * [backup-simplify]: Simplify (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) into (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))
14.062 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))) into (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))
14.069 * [backup-simplify]: Simplify (+ (* (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) (* (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))
14.073 * [backup-simplify]: Simplify (* (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
14.080 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) (* 0 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
14.080 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1
14.080 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1
14.080 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1))) in phi1
14.080 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
14.080 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.080 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.080 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.080 * [backup-simplify]: Simplify -0.5 into -0.5
14.080 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.080 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.081 * [taylor]: Taking taylor expansion of phi1 in phi1
14.081 * [backup-simplify]: Simplify 0 into 0
14.081 * [backup-simplify]: Simplify 1 into 1
14.081 * [backup-simplify]: Simplify (/ 1 1) into 1
14.081 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.081 * [taylor]: Taking taylor expansion of phi2 in phi1
14.081 * [backup-simplify]: Simplify phi2 into phi2
14.081 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.081 * [backup-simplify]: Simplify (+ 1 0) into 1
14.082 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.082 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.082 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* lambda1 phi1)) in phi1
14.082 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
14.082 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
14.082 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
14.082 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
14.082 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.082 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.082 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.082 * [backup-simplify]: Simplify -0.5 into -0.5
14.082 * [taylor]: Taking taylor expansion of phi2 in phi1
14.082 * [backup-simplify]: Simplify phi2 into phi2
14.082 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.082 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.082 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.082 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.083 * [backup-simplify]: Simplify (- 0) into 0
14.083 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.083 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
14.083 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.083 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.083 * [backup-simplify]: Simplify -0.5 into -0.5
14.083 * [taylor]: Taking taylor expansion of phi1 in phi1
14.083 * [backup-simplify]: Simplify 0 into 0
14.083 * [backup-simplify]: Simplify 1 into 1
14.083 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.083 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.083 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
14.083 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
14.083 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.083 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.083 * [backup-simplify]: Simplify -0.5 into -0.5
14.083 * [taylor]: Taking taylor expansion of phi2 in phi1
14.083 * [backup-simplify]: Simplify phi2 into phi2
14.084 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.084 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.084 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.084 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.084 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.084 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
14.084 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.084 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.084 * [backup-simplify]: Simplify -0.5 into -0.5
14.084 * [taylor]: Taking taylor expansion of phi1 in phi1
14.084 * [backup-simplify]: Simplify 0 into 0
14.084 * [backup-simplify]: Simplify 1 into 1
14.084 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.084 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
14.084 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
14.084 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.084 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.085 * [backup-simplify]: Simplify -0.5 into -0.5
14.085 * [taylor]: Taking taylor expansion of phi2 in phi1
14.085 * [backup-simplify]: Simplify phi2 into phi2
14.085 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.085 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.085 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.085 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
14.085 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.085 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.085 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.085 * [backup-simplify]: Simplify -0.5 into -0.5
14.085 * [taylor]: Taking taylor expansion of phi1 in phi1
14.085 * [backup-simplify]: Simplify 0 into 0
14.085 * [backup-simplify]: Simplify 1 into 1
14.085 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.085 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.085 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
14.085 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.085 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.085 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.085 * [backup-simplify]: Simplify -0.5 into -0.5
14.085 * [taylor]: Taking taylor expansion of phi2 in phi1
14.085 * [backup-simplify]: Simplify phi2 into phi2
14.085 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.085 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.086 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.086 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.086 * [backup-simplify]: Simplify -0.5 into -0.5
14.086 * [taylor]: Taking taylor expansion of phi1 in phi1
14.086 * [backup-simplify]: Simplify 0 into 0
14.086 * [backup-simplify]: Simplify 1 into 1
14.086 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.086 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
14.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.086 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.086 * [backup-simplify]: Simplify -0.5 into -0.5
14.086 * [taylor]: Taking taylor expansion of phi2 in phi1
14.086 * [backup-simplify]: Simplify phi2 into phi2
14.086 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.086 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.086 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.086 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
14.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.086 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.086 * [backup-simplify]: Simplify -0.5 into -0.5
14.086 * [taylor]: Taking taylor expansion of phi1 in phi1
14.086 * [backup-simplify]: Simplify 0 into 0
14.086 * [backup-simplify]: Simplify 1 into 1
14.087 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.087 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
14.087 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.087 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.087 * [backup-simplify]: Simplify -0.5 into -0.5
14.087 * [taylor]: Taking taylor expansion of phi2 in phi1
14.087 * [backup-simplify]: Simplify phi2 into phi2
14.087 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.087 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.087 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.087 * [backup-simplify]: Simplify -0.5 into -0.5
14.087 * [taylor]: Taking taylor expansion of phi1 in phi1
14.087 * [backup-simplify]: Simplify 0 into 0
14.087 * [backup-simplify]: Simplify 1 into 1
14.087 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.088 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1
14.088 * [taylor]: Taking taylor expansion of lambda1 in phi1
14.088 * [backup-simplify]: Simplify lambda1 into lambda1
14.088 * [taylor]: Taking taylor expansion of phi1 in phi1
14.088 * [backup-simplify]: Simplify 0 into 0
14.088 * [backup-simplify]: Simplify 1 into 1
14.088 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
14.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.088 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.088 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.088 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.089 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.089 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.090 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.090 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.090 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.090 * [backup-simplify]: Simplify (- 0) into 0
14.091 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.091 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.091 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.091 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.091 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
14.091 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
14.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
14.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.092 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.092 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.093 * [backup-simplify]: Simplify (- 0) into 0
14.093 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.093 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
14.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
14.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
14.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
14.095 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.097 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.097 * [backup-simplify]: Simplify (* lambda1 0) into 0
14.099 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 0) into 0
14.100 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1
14.100 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.101 * [backup-simplify]: Simplify (+ 0) into 0
14.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.102 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.102 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.103 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.103 * [backup-simplify]: Simplify (- 0) into 0
14.104 * [backup-simplify]: Simplify (+ 0 0) into 0
14.104 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.104 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
14.105 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.105 * [backup-simplify]: Simplify (+ 0) into 0
14.106 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.106 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.108 * [backup-simplify]: Simplify (+ 0 0) into 0
14.108 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.108 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
14.109 * [backup-simplify]: Simplify (+ 0 0) into 0
14.110 * [backup-simplify]: Simplify (+ 0) into 0
14.110 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.110 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.111 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.112 * [backup-simplify]: Simplify (+ 0 0) into 0
14.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.112 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
14.113 * [backup-simplify]: Simplify (+ 0) into 0
14.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.113 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.114 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.115 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.115 * [backup-simplify]: Simplify (- 0) into 0
14.115 * [backup-simplify]: Simplify (+ 0 0) into 0
14.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
14.116 * [backup-simplify]: Simplify (+ 0) into 0
14.117 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.117 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.118 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.119 * [backup-simplify]: Simplify (- 0) into 0
14.119 * [backup-simplify]: Simplify (+ 0 0) into 0
14.119 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
14.120 * [backup-simplify]: Simplify (+ 0) into 0
14.120 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.121 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.121 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.122 * [backup-simplify]: Simplify (+ 0 0) into 0
14.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
14.123 * [backup-simplify]: Simplify (+ 0 0) into 0
14.123 * [backup-simplify]: Simplify (- 0) into 0
14.124 * [backup-simplify]: Simplify (+ 0 0) into 0
14.127 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) lambda1) (* 0 0)) into (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))
14.129 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))))))
14.130 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
14.130 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
14.130 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
14.130 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
14.130 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
14.130 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
14.130 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.130 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.130 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.130 * [backup-simplify]: Simplify -0.5 into -0.5
14.130 * [taylor]: Taking taylor expansion of phi2 in phi1
14.130 * [backup-simplify]: Simplify phi2 into phi2
14.130 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.130 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.130 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.130 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.131 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.131 * [backup-simplify]: Simplify (- 0) into 0
14.131 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.131 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
14.131 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.131 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.131 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.131 * [backup-simplify]: Simplify -0.5 into -0.5
14.131 * [taylor]: Taking taylor expansion of phi1 in phi1
14.131 * [backup-simplify]: Simplify 0 into 0
14.131 * [backup-simplify]: Simplify 1 into 1
14.132 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.132 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.132 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
14.132 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
14.132 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.132 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.132 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.132 * [backup-simplify]: Simplify -0.5 into -0.5
14.132 * [taylor]: Taking taylor expansion of phi2 in phi1
14.132 * [backup-simplify]: Simplify phi2 into phi2
14.132 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.132 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.132 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.132 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.133 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.133 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.133 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
14.133 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.133 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.133 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.133 * [backup-simplify]: Simplify -0.5 into -0.5
14.133 * [taylor]: Taking taylor expansion of phi1 in phi1
14.133 * [backup-simplify]: Simplify 0 into 0
14.133 * [backup-simplify]: Simplify 1 into 1
14.133 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.133 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.133 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
14.133 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
14.133 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.133 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.133 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.133 * [backup-simplify]: Simplify -0.5 into -0.5
14.133 * [taylor]: Taking taylor expansion of phi2 in phi1
14.133 * [backup-simplify]: Simplify phi2 into phi2
14.133 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.133 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.133 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.133 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
14.134 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.134 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.134 * [backup-simplify]: Simplify -0.5 into -0.5
14.134 * [taylor]: Taking taylor expansion of phi1 in phi1
14.134 * [backup-simplify]: Simplify 0 into 0
14.134 * [backup-simplify]: Simplify 1 into 1
14.134 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.134 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.134 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
14.134 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.134 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.134 * [backup-simplify]: Simplify -0.5 into -0.5
14.134 * [taylor]: Taking taylor expansion of phi2 in phi1
14.134 * [backup-simplify]: Simplify phi2 into phi2
14.134 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.134 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.134 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.134 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.134 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.134 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.134 * [backup-simplify]: Simplify -0.5 into -0.5
14.134 * [taylor]: Taking taylor expansion of phi1 in phi1
14.134 * [backup-simplify]: Simplify 0 into 0
14.134 * [backup-simplify]: Simplify 1 into 1
14.135 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.135 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
14.135 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.135 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.135 * [backup-simplify]: Simplify -0.5 into -0.5
14.135 * [taylor]: Taking taylor expansion of phi2 in phi1
14.135 * [backup-simplify]: Simplify phi2 into phi2
14.135 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.135 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.135 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.135 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
14.135 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.135 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.135 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.135 * [backup-simplify]: Simplify -0.5 into -0.5
14.135 * [taylor]: Taking taylor expansion of phi1 in phi1
14.135 * [backup-simplify]: Simplify 0 into 0
14.135 * [backup-simplify]: Simplify 1 into 1
14.135 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.136 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
14.136 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.136 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.136 * [backup-simplify]: Simplify -0.5 into -0.5
14.136 * [taylor]: Taking taylor expansion of phi2 in phi1
14.136 * [backup-simplify]: Simplify phi2 into phi2
14.136 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.136 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.136 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.136 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.136 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.136 * [backup-simplify]: Simplify -0.5 into -0.5
14.136 * [taylor]: Taking taylor expansion of phi1 in phi1
14.136 * [backup-simplify]: Simplify 0 into 0
14.136 * [backup-simplify]: Simplify 1 into 1
14.136 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.136 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.136 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.137 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.137 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.137 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.137 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.138 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.138 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.138 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.138 * [backup-simplify]: Simplify (- 0) into 0
14.138 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.138 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
14.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
14.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
14.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.139 * [backup-simplify]: Simplify (- 0) into 0
14.139 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.139 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
14.140 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
14.140 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
14.140 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
14.141 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.142 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.143 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
14.144 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
14.144 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.145 * [backup-simplify]: Simplify (+ 0) into 0
14.145 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.145 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.146 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.146 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.146 * [backup-simplify]: Simplify (- 0) into 0
14.147 * [backup-simplify]: Simplify (+ 0 0) into 0
14.147 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.147 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
14.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.147 * [backup-simplify]: Simplify (+ 0) into 0
14.148 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.148 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.148 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.149 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.149 * [backup-simplify]: Simplify (+ 0 0) into 0
14.149 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.149 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
14.150 * [backup-simplify]: Simplify (+ 0 0) into 0
14.150 * [backup-simplify]: Simplify (+ 0) into 0
14.150 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.150 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.151 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.151 * [backup-simplify]: Simplify (- 0) into 0
14.151 * [backup-simplify]: Simplify (+ 0 0) into 0
14.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.152 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
14.152 * [backup-simplify]: Simplify (+ 0) into 0
14.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.152 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.153 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.153 * [backup-simplify]: Simplify (+ 0 0) into 0
14.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
14.154 * [backup-simplify]: Simplify (+ 0) into 0
14.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.154 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.155 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.155 * [backup-simplify]: Simplify (+ 0 0) into 0
14.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
14.156 * [backup-simplify]: Simplify (+ 0) into 0
14.156 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.156 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.157 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.157 * [backup-simplify]: Simplify (- 0) into 0
14.158 * [backup-simplify]: Simplify (+ 0 0) into 0
14.158 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
14.158 * [backup-simplify]: Simplify (+ 0 0) into 0
14.158 * [backup-simplify]: Simplify (- 0) into 0
14.159 * [backup-simplify]: Simplify (+ 0 0) into 0
14.161 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
14.164 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
14.169 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))
14.174 * [backup-simplify]: Simplify (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))))))))
14.174 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))))) in lambda1
14.174 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))))))) in lambda1
14.174 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1
14.175 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1
14.175 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1
14.175 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
14.175 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
14.175 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
14.175 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.175 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.175 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.175 * [backup-simplify]: Simplify -0.5 into -0.5
14.175 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.175 * [backup-simplify]: Simplify phi2 into phi2
14.175 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.175 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.176 * [backup-simplify]: Simplify (- 0) into 0
14.176 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.176 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
14.176 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.176 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.176 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.176 * [backup-simplify]: Simplify -0.5 into -0.5
14.176 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.176 * [backup-simplify]: Simplify phi1 into phi1
14.176 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.176 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.177 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.177 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.177 * [backup-simplify]: Simplify (- 0) into 0
14.177 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.177 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
14.177 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
14.177 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.177 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.177 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.178 * [backup-simplify]: Simplify -0.5 into -0.5
14.178 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.178 * [backup-simplify]: Simplify phi2 into phi2
14.178 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.178 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.178 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.178 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.178 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
14.178 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.178 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.178 * [backup-simplify]: Simplify -0.5 into -0.5
14.178 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.178 * [backup-simplify]: Simplify phi1 into phi1
14.178 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.179 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.179 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.179 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.179 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1
14.179 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1
14.179 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.179 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.179 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.179 * [backup-simplify]: Simplify -0.5 into -0.5
14.179 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.179 * [backup-simplify]: Simplify phi2 into phi2
14.179 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.179 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.179 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.180 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1
14.180 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.180 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.180 * [backup-simplify]: Simplify -0.5 into -0.5
14.180 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.180 * [backup-simplify]: Simplify phi1 into phi1
14.180 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.180 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.180 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.180 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
14.180 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.180 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.180 * [backup-simplify]: Simplify -0.5 into -0.5
14.180 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.180 * [backup-simplify]: Simplify phi1 into phi1
14.180 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.180 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.180 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.180 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.180 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.181 * [backup-simplify]: Simplify -0.5 into -0.5
14.181 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.181 * [backup-simplify]: Simplify phi2 into phi2
14.181 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.181 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.181 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.181 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1
14.181 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.181 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.181 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.181 * [backup-simplify]: Simplify -0.5 into -0.5
14.181 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.181 * [backup-simplify]: Simplify phi2 into phi2
14.181 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.181 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.181 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.181 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1
14.181 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.181 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.181 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.181 * [backup-simplify]: Simplify -0.5 into -0.5
14.181 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.181 * [backup-simplify]: Simplify phi1 into phi1
14.182 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.182 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.182 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.182 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1
14.182 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.182 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.182 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.182 * [backup-simplify]: Simplify -0.5 into -0.5
14.182 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.182 * [backup-simplify]: Simplify phi1 into phi1
14.182 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.182 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.182 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.182 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.182 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.182 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.182 * [backup-simplify]: Simplify -0.5 into -0.5
14.182 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.182 * [backup-simplify]: Simplify phi2 into phi2
14.182 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.182 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.183 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.183 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.184 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.185 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.185 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.185 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.185 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.185 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.185 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.186 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.186 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.186 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.186 * [backup-simplify]: Simplify (- 0) into 0
14.187 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.187 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.187 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.187 * [backup-simplify]: Simplify (- 0) into 0
14.187 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.188 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
14.188 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
14.188 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
14.188 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.188 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.189 * [backup-simplify]: Simplify (- 0) into 0
14.189 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.189 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.189 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.190 * [backup-simplify]: Simplify (- 0) into 0
14.190 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.190 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.190 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.190 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.190 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.190 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.190 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.191 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))
14.191 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
14.191 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
14.192 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
14.193 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
14.194 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
14.195 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
14.196 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))
14.201 * [backup-simplify]: Simplify (+ 0) into 0
14.201 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.202 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.202 * [backup-simplify]: Simplify (- 0) into 0
14.203 * [backup-simplify]: Simplify (+ 0 0) into 0
14.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.203 * [backup-simplify]: Simplify (+ 0) into 0
14.203 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.204 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.204 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.205 * [backup-simplify]: Simplify (- 0) into 0
14.205 * [backup-simplify]: Simplify (+ 0 0) into 0
14.205 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.205 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
14.206 * [backup-simplify]: Simplify (+ 0) into 0
14.206 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.206 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.207 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.207 * [backup-simplify]: Simplify (+ 0 0) into 0
14.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.207 * [backup-simplify]: Simplify (+ 0) into 0
14.208 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.208 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.209 * [backup-simplify]: Simplify (+ 0 0) into 0
14.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.209 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
14.210 * [backup-simplify]: Simplify (+ 0 0) into 0
14.210 * [backup-simplify]: Simplify (+ 0) into 0
14.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.210 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.211 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.211 * [backup-simplify]: Simplify (- 0) into 0
14.212 * [backup-simplify]: Simplify (+ 0 0) into 0
14.212 * [backup-simplify]: Simplify (+ 0) into 0
14.212 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.213 * [backup-simplify]: Simplify (- 0) into 0
14.213 * [backup-simplify]: Simplify (+ 0 0) into 0
14.214 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.214 * [backup-simplify]: Simplify (+ 0) into 0
14.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.214 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.215 * [backup-simplify]: Simplify (+ 0 0) into 0
14.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0
14.216 * [backup-simplify]: Simplify (+ 0) into 0
14.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.216 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.217 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.217 * [backup-simplify]: Simplify (+ 0 0) into 0
14.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
14.218 * [backup-simplify]: Simplify (+ 0) into 0
14.218 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.218 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.219 * [backup-simplify]: Simplify (+ 0 0) into 0
14.220 * [backup-simplify]: Simplify (+ 0) into 0
14.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.220 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.221 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.221 * [backup-simplify]: Simplify (+ 0 0) into 0
14.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.222 * [backup-simplify]: Simplify (+ 0) into 0
14.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.223 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.223 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.224 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.224 * [backup-simplify]: Simplify (- 0) into 0
14.225 * [backup-simplify]: Simplify (+ 0 0) into 0
14.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0
14.225 * [backup-simplify]: Simplify (+ 0) into 0
14.226 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.226 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.227 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.228 * [backup-simplify]: Simplify (- 0) into 0
14.228 * [backup-simplify]: Simplify (+ 0 0) into 0
14.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
14.229 * [backup-simplify]: Simplify (+ 0 0) into 0
14.229 * [backup-simplify]: Simplify (- 0) into 0
14.229 * [backup-simplify]: Simplify (+ 0 0) into 0
14.234 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0
14.236 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
14.236 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))))) in lambda1
14.236 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
14.236 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
14.237 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
14.237 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.237 * [backup-simplify]: Simplify -0.5 into -0.5
14.237 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
14.237 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
14.237 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.237 * [backup-simplify]: Simplify phi1 into phi1
14.237 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.237 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
14.237 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.237 * [backup-simplify]: Simplify phi2 into phi2
14.237 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.237 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
14.237 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
14.237 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.237 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.237 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.237 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
14.238 * [backup-simplify]: Simplify (- 0) into 0
14.238 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.238 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))))) in lambda1
14.238 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2)))) in lambda1
14.238 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (* lambda1 (pow (sin (/ -0.5 phi1)) 2))) in lambda1
14.238 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
14.238 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.238 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.238 * [backup-simplify]: Simplify -0.5 into -0.5
14.238 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.238 * [backup-simplify]: Simplify phi2 into phi2
14.238 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.238 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.238 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.238 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.238 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.238 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.239 * [taylor]: Taking taylor expansion of (* lambda1 (pow (sin (/ -0.5 phi1)) 2)) in lambda1
14.239 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.239 * [backup-simplify]: Simplify 0 into 0
14.239 * [backup-simplify]: Simplify 1 into 1
14.239 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
14.239 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.239 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.239 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.239 * [backup-simplify]: Simplify -0.5 into -0.5
14.239 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.239 * [backup-simplify]: Simplify phi1 into phi1
14.239 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.239 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.239 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.239 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.239 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (* lambda1 (pow (cos (/ -0.5 phi1)) 2))) in lambda1
14.239 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
14.239 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.239 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.239 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.239 * [backup-simplify]: Simplify -0.5 into -0.5
14.239 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.239 * [backup-simplify]: Simplify phi2 into phi2
14.239 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.239 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.239 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.240 * [backup-simplify]: Simplify (- 0) into 0
14.240 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.240 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (/ -0.5 phi1)) 2)) in lambda1
14.240 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.240 * [backup-simplify]: Simplify 0 into 0
14.240 * [backup-simplify]: Simplify 1 into 1
14.240 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
14.240 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.240 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.240 * [backup-simplify]: Simplify -0.5 into -0.5
14.240 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.240 * [backup-simplify]: Simplify phi1 into phi1
14.240 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.240 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.240 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.240 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.240 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.241 * [backup-simplify]: Simplify (- 0) into 0
14.241 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.241 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))))) in lambda1
14.241 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))))) in lambda1
14.241 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.241 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.241 * [backup-simplify]: Simplify -0.5 into -0.5
14.241 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.241 * [backup-simplify]: Simplify phi2 into phi2
14.241 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.241 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1))))) in lambda1
14.241 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.241 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.241 * [backup-simplify]: Simplify -0.5 into -0.5
14.241 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.241 * [backup-simplify]: Simplify phi1 into phi1
14.241 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.241 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* lambda1 (cos (/ -0.5 phi1)))) in lambda1
14.241 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.241 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.241 * [backup-simplify]: Simplify -0.5 into -0.5
14.241 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.241 * [backup-simplify]: Simplify phi2 into phi2
14.242 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.242 * [taylor]: Taking taylor expansion of (* lambda1 (cos (/ -0.5 phi1))) in lambda1
14.242 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.242 * [backup-simplify]: Simplify 0 into 0
14.242 * [backup-simplify]: Simplify 1 into 1
14.242 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.242 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.242 * [backup-simplify]: Simplify -0.5 into -0.5
14.242 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.242 * [backup-simplify]: Simplify phi1 into phi1
14.242 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.242 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))))) in lambda1
14.242 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.242 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.242 * [backup-simplify]: Simplify -0.5 into -0.5
14.242 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.242 * [backup-simplify]: Simplify phi2 into phi2
14.242 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.242 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1))))) in lambda1
14.242 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.242 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.242 * [backup-simplify]: Simplify -0.5 into -0.5
14.242 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.242 * [backup-simplify]: Simplify phi1 into phi1
14.242 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.242 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* lambda1 (sin (/ -0.5 phi1)))) in lambda1
14.243 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.243 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.243 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.243 * [backup-simplify]: Simplify -0.5 into -0.5
14.243 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.243 * [backup-simplify]: Simplify phi2 into phi2
14.243 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.243 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.243 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.243 * [taylor]: Taking taylor expansion of (* lambda1 (sin (/ -0.5 phi1))) in lambda1
14.243 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.243 * [backup-simplify]: Simplify 0 into 0
14.243 * [backup-simplify]: Simplify 1 into 1
14.243 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.243 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.243 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.243 * [backup-simplify]: Simplify -0.5 into -0.5
14.243 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.243 * [backup-simplify]: Simplify phi1 into phi1
14.243 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.243 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.243 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.243 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
14.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.244 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.244 * [backup-simplify]: Simplify (* 0 (pow (sin (/ -0.5 phi1)) 2)) into 0
14.244 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) 0) into 0
14.244 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.244 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.244 * [backup-simplify]: Simplify (* 0 (pow (cos (/ -0.5 phi1)) 2)) into 0
14.244 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) 0) into 0
14.245 * [backup-simplify]: Simplify (+ 0 0) into 0
14.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.245 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.245 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.245 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.245 * [backup-simplify]: Simplify (- 0) into 0
14.246 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.246 * [backup-simplify]: Simplify (- 0) into 0
14.246 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.246 * [backup-simplify]: Simplify (* 0 (cos (/ -0.5 phi1))) into 0
14.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.246 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.247 * [backup-simplify]: Simplify (- 0) into 0
14.247 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.247 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.247 * [backup-simplify]: Simplify (- 0) into 0
14.247 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.247 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.247 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.248 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.248 * [backup-simplify]: Simplify (* 0 (sin (/ -0.5 phi1))) into 0
14.248 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.248 * [backup-simplify]: Simplify (+ 0 0) into 0
14.248 * [backup-simplify]: Simplify (- 0) into 0
14.249 * [backup-simplify]: Simplify (+ 0 0) into 0
14.249 * [backup-simplify]: Simplify (+ 0) into 0
14.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.249 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.250 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.250 * [backup-simplify]: Simplify (+ 0 0) into 0
14.250 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.251 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (sin (/ -0.5 phi1)) 2))) into (pow (sin (/ -0.5 phi1)) 2)
14.251 * [backup-simplify]: Simplify (+ 0) into 0
14.251 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.252 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.252 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.253 * [backup-simplify]: Simplify (+ 0 0) into 0
14.253 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.253 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* 0 0)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.254 * [backup-simplify]: Simplify (+ 0) into 0
14.254 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.254 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.254 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.255 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.255 * [backup-simplify]: Simplify (- 0) into 0
14.255 * [backup-simplify]: Simplify (+ 0 0) into 0
14.255 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.256 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (/ -0.5 phi1)) 2))) into (pow (cos (/ -0.5 phi1)) 2)
14.256 * [backup-simplify]: Simplify (+ 0) into 0
14.256 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.256 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.257 * [backup-simplify]: Simplify (- 0) into 0
14.258 * [backup-simplify]: Simplify (+ 0 0) into 0
14.258 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.258 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* 0 0)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.259 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.259 * [backup-simplify]: Simplify (+ 0) into 0
14.259 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.260 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.261 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.261 * [backup-simplify]: Simplify (- 0) into 0
14.261 * [backup-simplify]: Simplify (+ 0 0) into 0
14.261 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (cos (/ -0.5 phi1)))) into (cos (/ -0.5 phi1))
14.262 * [backup-simplify]: Simplify (+ 0) into 0
14.262 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.262 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.263 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.263 * [backup-simplify]: Simplify (- 0) into 0
14.263 * [backup-simplify]: Simplify (+ 0 0) into 0
14.264 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
14.264 * [backup-simplify]: Simplify (+ 0) into 0
14.264 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.265 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.266 * [backup-simplify]: Simplify (+ 0 0) into 0
14.266 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
14.267 * [backup-simplify]: Simplify (+ 0) into 0
14.267 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.268 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.268 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.269 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.269 * [backup-simplify]: Simplify (+ 0 0) into 0
14.270 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
14.271 * [backup-simplify]: Simplify (+ 0) into 0
14.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.271 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.272 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.273 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.273 * [backup-simplify]: Simplify (+ 0 0) into 0
14.274 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (sin (/ -0.5 phi1)))) into (sin (/ -0.5 phi1))
14.274 * [backup-simplify]: Simplify (+ 0) into 0
14.274 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.275 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.275 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.276 * [backup-simplify]: Simplify (+ 0 0) into 0
14.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
14.277 * [backup-simplify]: Simplify (+ 0) into 0
14.278 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.278 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.279 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.280 * [backup-simplify]: Simplify (- 0) into 0
14.280 * [backup-simplify]: Simplify (+ 0 0) into 0
14.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) (* 0 0)) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
14.281 * [backup-simplify]: Simplify (+ 0) into 0
14.282 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.282 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.283 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.284 * [backup-simplify]: Simplify (- 0) into 0
14.284 * [backup-simplify]: Simplify (+ 0 0) into 0
14.285 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* 0 0)) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
14.286 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
14.287 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
14.289 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
14.291 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
14.296 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
14.301 * [backup-simplify]: Simplify (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
14.306 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
14.308 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.309 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.310 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.310 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.311 * [backup-simplify]: Simplify (- 0) into 0
14.311 * [backup-simplify]: Simplify (+ 0 0) into 0
14.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
14.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
14.313 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
14.314 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.315 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.315 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.316 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.317 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.317 * [backup-simplify]: Simplify (+ 0 0) into 0
14.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
14.318 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
14.319 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
14.320 * [backup-simplify]: Simplify (+ 0 0) into 0
14.321 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.322 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.322 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.323 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.323 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.324 * [backup-simplify]: Simplify (- 0) into 0
14.324 * [backup-simplify]: Simplify (+ 0 0) into 0
14.325 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.326 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.327 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.327 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.328 * [backup-simplify]: Simplify (+ 0 0) into 0
14.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
14.329 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
14.330 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0
14.331 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.331 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.332 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.332 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.333 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.333 * [backup-simplify]: Simplify (+ 0 0) into 0
14.340 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.342 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.342 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.343 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.343 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.344 * [backup-simplify]: Simplify (- 0) into 0
14.344 * [backup-simplify]: Simplify (+ 0 0) into 0
14.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
14.345 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
14.346 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0
14.346 * [backup-simplify]: Simplify (+ 0 0) into 0
14.347 * [backup-simplify]: Simplify (- 0) into 0
14.347 * [backup-simplify]: Simplify (+ 0 0) into 0
14.353 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
14.357 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
14.358 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
14.359 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
14.359 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))
14.360 * [backup-simplify]: Simplify (+ 0 (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2)))
14.361 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
14.361 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
14.362 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0
14.364 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)))
14.367 * [backup-simplify]: Simplify (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)))) into (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
14.371 * [backup-simplify]: Simplify (+ (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (- (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))))
14.379 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 phi1))) 0) (* (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ 1 (pow phi1 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
14.395 * [backup-simplify]: Simplify (+ (* 1/2 (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) (+ (* 0 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))
14.396 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) in phi1
14.396 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) in phi1
14.396 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) in phi1
14.396 * [taylor]: Taking taylor expansion of 1/2 in phi1
14.396 * [backup-simplify]: Simplify 1/2 into 1/2
14.396 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2))) in phi1
14.396 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
14.396 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
14.396 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
14.396 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
14.396 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
14.396 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
14.396 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.396 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.397 * [backup-simplify]: Simplify -0.5 into -0.5
14.397 * [taylor]: Taking taylor expansion of phi2 in phi1
14.397 * [backup-simplify]: Simplify phi2 into phi2
14.397 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.397 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.397 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.398 * [backup-simplify]: Simplify (- 0) into 0
14.398 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.398 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
14.398 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.398 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.398 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.398 * [backup-simplify]: Simplify -0.5 into -0.5
14.398 * [taylor]: Taking taylor expansion of phi1 in phi1
14.398 * [backup-simplify]: Simplify 0 into 0
14.398 * [backup-simplify]: Simplify 1 into 1
14.399 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.399 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.399 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
14.399 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
14.399 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.399 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.399 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.399 * [backup-simplify]: Simplify -0.5 into -0.5
14.399 * [taylor]: Taking taylor expansion of phi2 in phi1
14.399 * [backup-simplify]: Simplify phi2 into phi2
14.399 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.399 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.399 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.399 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.399 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.400 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.400 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
14.400 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.400 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.400 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.400 * [backup-simplify]: Simplify -0.5 into -0.5
14.400 * [taylor]: Taking taylor expansion of phi1 in phi1
14.400 * [backup-simplify]: Simplify 0 into 0
14.400 * [backup-simplify]: Simplify 1 into 1
14.400 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.400 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.401 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
14.401 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
14.401 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.401 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.401 * [backup-simplify]: Simplify -0.5 into -0.5
14.401 * [taylor]: Taking taylor expansion of phi2 in phi1
14.401 * [backup-simplify]: Simplify phi2 into phi2
14.401 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.401 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.401 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.401 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
14.401 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.401 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.401 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.401 * [backup-simplify]: Simplify -0.5 into -0.5
14.401 * [taylor]: Taking taylor expansion of phi1 in phi1
14.401 * [backup-simplify]: Simplify 0 into 0
14.401 * [backup-simplify]: Simplify 1 into 1
14.402 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.402 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.402 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
14.402 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.402 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.402 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.402 * [backup-simplify]: Simplify -0.5 into -0.5
14.402 * [taylor]: Taking taylor expansion of phi2 in phi1
14.402 * [backup-simplify]: Simplify phi2 into phi2
14.402 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.402 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.402 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.402 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.402 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.403 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.403 * [backup-simplify]: Simplify -0.5 into -0.5
14.403 * [taylor]: Taking taylor expansion of phi1 in phi1
14.403 * [backup-simplify]: Simplify 0 into 0
14.403 * [backup-simplify]: Simplify 1 into 1
14.403 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.403 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.403 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
14.403 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.403 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.403 * [backup-simplify]: Simplify -0.5 into -0.5
14.403 * [taylor]: Taking taylor expansion of phi2 in phi1
14.403 * [backup-simplify]: Simplify phi2 into phi2
14.404 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.404 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.404 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
14.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.404 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.404 * [backup-simplify]: Simplify -0.5 into -0.5
14.404 * [taylor]: Taking taylor expansion of phi1 in phi1
14.404 * [backup-simplify]: Simplify 0 into 0
14.404 * [backup-simplify]: Simplify 1 into 1
14.404 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.405 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
14.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.405 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.405 * [backup-simplify]: Simplify -0.5 into -0.5
14.405 * [taylor]: Taking taylor expansion of phi2 in phi1
14.405 * [backup-simplify]: Simplify phi2 into phi2
14.405 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.405 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.405 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.405 * [backup-simplify]: Simplify -0.5 into -0.5
14.405 * [taylor]: Taking taylor expansion of phi1 in phi1
14.405 * [backup-simplify]: Simplify 0 into 0
14.405 * [backup-simplify]: Simplify 1 into 1
14.406 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.407 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.408 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.408 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.409 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.409 * [backup-simplify]: Simplify (- 0) into 0
14.409 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.409 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.410 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.410 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
14.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
14.410 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
14.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.411 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.411 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.411 * [backup-simplify]: Simplify (- 0) into 0
14.412 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
14.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
14.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
14.413 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
14.414 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.417 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.419 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
14.421 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
14.421 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.422 * [backup-simplify]: Simplify (+ 0) into 0
14.422 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.423 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.423 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.424 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.424 * [backup-simplify]: Simplify (- 0) into 0
14.425 * [backup-simplify]: Simplify (+ 0 0) into 0
14.425 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.425 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
14.426 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.426 * [backup-simplify]: Simplify (+ 0) into 0
14.427 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.427 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.428 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.428 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.428 * [backup-simplify]: Simplify (+ 0 0) into 0
14.429 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.429 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
14.430 * [backup-simplify]: Simplify (+ 0 0) into 0
14.430 * [backup-simplify]: Simplify (+ 0) into 0
14.431 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.431 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.432 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.432 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.433 * [backup-simplify]: Simplify (+ 0 0) into 0
14.434 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.434 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
14.435 * [backup-simplify]: Simplify (+ 0) into 0
14.435 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.435 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.436 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.437 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.437 * [backup-simplify]: Simplify (- 0) into 0
14.437 * [backup-simplify]: Simplify (+ 0 0) into 0
14.438 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
14.438 * [backup-simplify]: Simplify (+ 0) into 0
14.439 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.439 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.440 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.440 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.441 * [backup-simplify]: Simplify (- 0) into 0
14.441 * [backup-simplify]: Simplify (+ 0 0) into 0
14.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
14.442 * [backup-simplify]: Simplify (+ 0) into 0
14.442 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.443 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.443 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.444 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.444 * [backup-simplify]: Simplify (+ 0 0) into 0
14.445 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
14.445 * [backup-simplify]: Simplify (+ 0 0) into 0
14.445 * [backup-simplify]: Simplify (- 0) into 0
14.446 * [backup-simplify]: Simplify (+ 0 0) into 0
14.450 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
14.453 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
14.453 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
14.453 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
14.453 * [taylor]: Taking taylor expansion of phi1 in phi1
14.453 * [backup-simplify]: Simplify 0 into 0
14.453 * [backup-simplify]: Simplify 1 into 1
14.454 * [backup-simplify]: Simplify (* 1 1) into 1
14.454 * [backup-simplify]: Simplify (/ 1 1) into 1
14.454 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1
14.454 * [taylor]: Taking taylor expansion of 1/2 in phi1
14.455 * [backup-simplify]: Simplify 1/2 into 1/2
14.455 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1
14.455 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
14.455 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
14.455 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.455 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.455 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.455 * [backup-simplify]: Simplify -0.5 into -0.5
14.455 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.455 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.455 * [taylor]: Taking taylor expansion of phi1 in phi1
14.455 * [backup-simplify]: Simplify 0 into 0
14.455 * [backup-simplify]: Simplify 1 into 1
14.455 * [backup-simplify]: Simplify (/ 1 1) into 1
14.455 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.455 * [taylor]: Taking taylor expansion of phi2 in phi1
14.455 * [backup-simplify]: Simplify phi2 into phi2
14.456 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.456 * [backup-simplify]: Simplify (+ 1 0) into 1
14.456 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.457 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.457 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
14.457 * [taylor]: Taking taylor expansion of lambda1 in phi1
14.457 * [backup-simplify]: Simplify lambda1 into lambda1
14.457 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
14.457 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
14.457 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
14.457 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
14.457 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
14.457 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
14.457 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
14.457 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
14.457 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
14.457 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.457 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.457 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.457 * [backup-simplify]: Simplify -0.5 into -0.5
14.457 * [taylor]: Taking taylor expansion of phi2 in phi1
14.457 * [backup-simplify]: Simplify phi2 into phi2
14.458 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.458 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.458 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.458 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.458 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.458 * [backup-simplify]: Simplify (- 0) into 0
14.458 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.458 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
14.458 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.458 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.458 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.458 * [backup-simplify]: Simplify -0.5 into -0.5
14.458 * [taylor]: Taking taylor expansion of phi1 in phi1
14.458 * [backup-simplify]: Simplify 0 into 0
14.458 * [backup-simplify]: Simplify 1 into 1
14.459 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.459 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
14.459 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
14.459 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.459 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.459 * [backup-simplify]: Simplify -0.5 into -0.5
14.459 * [taylor]: Taking taylor expansion of phi2 in phi1
14.459 * [backup-simplify]: Simplify phi2 into phi2
14.459 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.459 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.459 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.459 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.459 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.459 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.459 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
14.459 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.459 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.459 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.459 * [backup-simplify]: Simplify -0.5 into -0.5
14.459 * [taylor]: Taking taylor expansion of phi1 in phi1
14.459 * [backup-simplify]: Simplify 0 into 0
14.459 * [backup-simplify]: Simplify 1 into 1
14.460 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.460 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.460 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
14.460 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
14.460 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.460 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.460 * [backup-simplify]: Simplify -0.5 into -0.5
14.460 * [taylor]: Taking taylor expansion of phi2 in phi1
14.460 * [backup-simplify]: Simplify phi2 into phi2
14.460 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.460 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.460 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
14.460 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.460 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.460 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.460 * [backup-simplify]: Simplify -0.5 into -0.5
14.460 * [taylor]: Taking taylor expansion of phi1 in phi1
14.460 * [backup-simplify]: Simplify 0 into 0
14.460 * [backup-simplify]: Simplify 1 into 1
14.460 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.460 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.461 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
14.461 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.461 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.461 * [backup-simplify]: Simplify -0.5 into -0.5
14.461 * [taylor]: Taking taylor expansion of phi2 in phi1
14.461 * [backup-simplify]: Simplify phi2 into phi2
14.461 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.461 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.461 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.461 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.461 * [backup-simplify]: Simplify -0.5 into -0.5
14.461 * [taylor]: Taking taylor expansion of phi1 in phi1
14.461 * [backup-simplify]: Simplify 0 into 0
14.461 * [backup-simplify]: Simplify 1 into 1
14.461 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.461 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
14.461 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.461 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.461 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.461 * [backup-simplify]: Simplify -0.5 into -0.5
14.461 * [taylor]: Taking taylor expansion of phi2 in phi1
14.461 * [backup-simplify]: Simplify phi2 into phi2
14.461 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.461 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.462 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.462 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
14.462 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.462 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.462 * [backup-simplify]: Simplify -0.5 into -0.5
14.462 * [taylor]: Taking taylor expansion of phi1 in phi1
14.462 * [backup-simplify]: Simplify 0 into 0
14.462 * [backup-simplify]: Simplify 1 into 1
14.462 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.462 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.462 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
14.462 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.462 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.462 * [backup-simplify]: Simplify -0.5 into -0.5
14.462 * [taylor]: Taking taylor expansion of phi2 in phi1
14.462 * [backup-simplify]: Simplify phi2 into phi2
14.462 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.462 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.462 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.462 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.462 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.462 * [backup-simplify]: Simplify -0.5 into -0.5
14.462 * [taylor]: Taking taylor expansion of phi1 in phi1
14.462 * [backup-simplify]: Simplify 0 into 0
14.462 * [backup-simplify]: Simplify 1 into 1
14.463 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.463 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.463 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.463 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.463 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.464 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.464 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.465 * [backup-simplify]: Simplify (- 0) into 0
14.465 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.465 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
14.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
14.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
14.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.466 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.466 * [backup-simplify]: Simplify (- 0) into 0
14.466 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.466 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
14.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
14.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
14.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
14.467 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.469 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.470 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
14.471 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
14.471 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.471 * [backup-simplify]: Simplify (+ 0) into 0
14.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.472 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.472 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.473 * [backup-simplify]: Simplify (- 0) into 0
14.473 * [backup-simplify]: Simplify (+ 0 0) into 0
14.473 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.473 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
14.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.474 * [backup-simplify]: Simplify (+ 0) into 0
14.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.474 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.475 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.475 * [backup-simplify]: Simplify (+ 0 0) into 0
14.475 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.476 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
14.476 * [backup-simplify]: Simplify (+ 0 0) into 0
14.476 * [backup-simplify]: Simplify (+ 0) into 0
14.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.477 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.477 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.478 * [backup-simplify]: Simplify (+ 0 0) into 0
14.478 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
14.478 * [backup-simplify]: Simplify (+ 0) into 0
14.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.479 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.479 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.480 * [backup-simplify]: Simplify (- 0) into 0
14.480 * [backup-simplify]: Simplify (+ 0 0) into 0
14.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
14.480 * [backup-simplify]: Simplify (+ 0) into 0
14.481 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.481 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.482 * [backup-simplify]: Simplify (- 0) into 0
14.482 * [backup-simplify]: Simplify (+ 0 0) into 0
14.482 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
14.483 * [backup-simplify]: Simplify (+ 0) into 0
14.483 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.483 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.484 * [backup-simplify]: Simplify (+ 0 0) into 0
14.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
14.484 * [backup-simplify]: Simplify (+ 0 0) into 0
14.485 * [backup-simplify]: Simplify (- 0) into 0
14.485 * [backup-simplify]: Simplify (+ 0 0) into 0
14.487 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
14.488 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
14.489 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1
14.489 * [taylor]: Taking taylor expansion of 1/2 in phi1
14.489 * [backup-simplify]: Simplify 1/2 into 1/2
14.489 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1
14.489 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) in phi1
14.489 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi1
14.489 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.489 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.489 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.489 * [backup-simplify]: Simplify -0.5 into -0.5
14.489 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.489 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.489 * [taylor]: Taking taylor expansion of phi1 in phi1
14.489 * [backup-simplify]: Simplify 0 into 0
14.489 * [backup-simplify]: Simplify 1 into 1
14.490 * [backup-simplify]: Simplify (/ 1 1) into 1
14.490 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.490 * [taylor]: Taking taylor expansion of phi2 in phi1
14.490 * [backup-simplify]: Simplify phi2 into phi2
14.490 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.490 * [backup-simplify]: Simplify (+ 1 0) into 1
14.491 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.491 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.491 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2)) in phi1
14.491 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
14.492 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
14.492 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
14.492 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
14.492 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.492 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.492 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.492 * [backup-simplify]: Simplify -0.5 into -0.5
14.492 * [taylor]: Taking taylor expansion of phi2 in phi1
14.492 * [backup-simplify]: Simplify phi2 into phi2
14.492 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.492 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.492 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.492 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.493 * [backup-simplify]: Simplify (- 0) into 0
14.493 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.493 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
14.493 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.493 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.493 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.493 * [backup-simplify]: Simplify -0.5 into -0.5
14.493 * [taylor]: Taking taylor expansion of phi1 in phi1
14.493 * [backup-simplify]: Simplify 0 into 0
14.493 * [backup-simplify]: Simplify 1 into 1
14.494 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.494 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.494 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
14.494 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
14.494 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.494 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.494 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.494 * [backup-simplify]: Simplify -0.5 into -0.5
14.494 * [taylor]: Taking taylor expansion of phi2 in phi1
14.494 * [backup-simplify]: Simplify phi2 into phi2
14.494 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.494 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.494 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.495 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.495 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.495 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.495 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
14.495 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.495 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.495 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.495 * [backup-simplify]: Simplify -0.5 into -0.5
14.495 * [taylor]: Taking taylor expansion of phi1 in phi1
14.495 * [backup-simplify]: Simplify 0 into 0
14.495 * [backup-simplify]: Simplify 1 into 1
14.496 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.496 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.496 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
14.496 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
14.496 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.496 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.496 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.496 * [backup-simplify]: Simplify -0.5 into -0.5
14.496 * [taylor]: Taking taylor expansion of phi1 in phi1
14.496 * [backup-simplify]: Simplify 0 into 0
14.496 * [backup-simplify]: Simplify 1 into 1
14.496 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.497 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.497 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
14.497 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.497 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.497 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.497 * [backup-simplify]: Simplify -0.5 into -0.5
14.497 * [taylor]: Taking taylor expansion of phi2 in phi1
14.497 * [backup-simplify]: Simplify phi2 into phi2
14.497 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.497 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.497 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.497 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
14.497 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.497 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.497 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.497 * [backup-simplify]: Simplify -0.5 into -0.5
14.497 * [taylor]: Taking taylor expansion of phi2 in phi1
14.497 * [backup-simplify]: Simplify phi2 into phi2
14.497 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.497 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.498 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.498 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.498 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.498 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.498 * [backup-simplify]: Simplify -0.5 into -0.5
14.498 * [taylor]: Taking taylor expansion of phi1 in phi1
14.498 * [backup-simplify]: Simplify 0 into 0
14.498 * [backup-simplify]: Simplify 1 into 1
14.498 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.498 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.498 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
14.498 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.499 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.499 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.499 * [backup-simplify]: Simplify -0.5 into -0.5
14.499 * [taylor]: Taking taylor expansion of phi1 in phi1
14.499 * [backup-simplify]: Simplify 0 into 0
14.499 * [backup-simplify]: Simplify 1 into 1
14.499 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.499 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.499 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
14.499 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.499 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.499 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.499 * [backup-simplify]: Simplify -0.5 into -0.5
14.500 * [taylor]: Taking taylor expansion of phi2 in phi1
14.500 * [backup-simplify]: Simplify phi2 into phi2
14.500 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.500 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.500 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.500 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
14.500 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.500 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.500 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.500 * [backup-simplify]: Simplify -0.5 into -0.5
14.500 * [taylor]: Taking taylor expansion of phi2 in phi1
14.500 * [backup-simplify]: Simplify phi2 into phi2
14.500 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.500 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.500 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.500 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.500 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.500 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.500 * [backup-simplify]: Simplify -0.5 into -0.5
14.501 * [taylor]: Taking taylor expansion of phi1 in phi1
14.501 * [backup-simplify]: Simplify 0 into 0
14.501 * [backup-simplify]: Simplify 1 into 1
14.507 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.507 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.508 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
14.508 * [taylor]: Taking taylor expansion of lambda1 in phi1
14.508 * [backup-simplify]: Simplify lambda1 into lambda1
14.508 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
14.509 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
14.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.509 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.510 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.510 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.510 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.511 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.511 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.511 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.512 * [backup-simplify]: Simplify (- 0) into 0
14.512 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.512 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.512 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.512 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
14.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
14.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
14.513 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.513 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.514 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.514 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.514 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.514 * [backup-simplify]: Simplify (- 0) into 0
14.514 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.515 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
14.515 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
14.515 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
14.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))
14.517 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
14.519 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
14.519 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
14.521 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (pow lambda1 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (pow lambda1 2))
14.524 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (pow lambda1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (pow lambda1 2)))
14.524 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
14.524 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
14.524 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
14.524 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
14.524 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
14.524 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
14.524 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.524 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.524 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.524 * [backup-simplify]: Simplify -0.5 into -0.5
14.524 * [taylor]: Taking taylor expansion of phi2 in phi1
14.524 * [backup-simplify]: Simplify phi2 into phi2
14.525 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.525 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.525 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.525 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.525 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.526 * [backup-simplify]: Simplify (- 0) into 0
14.526 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.526 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
14.526 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.526 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.526 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.526 * [backup-simplify]: Simplify -0.5 into -0.5
14.526 * [taylor]: Taking taylor expansion of phi1 in phi1
14.526 * [backup-simplify]: Simplify 0 into 0
14.526 * [backup-simplify]: Simplify 1 into 1
14.526 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.527 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.527 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
14.527 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
14.527 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.527 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.527 * [backup-simplify]: Simplify -0.5 into -0.5
14.527 * [taylor]: Taking taylor expansion of phi2 in phi1
14.527 * [backup-simplify]: Simplify phi2 into phi2
14.527 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.527 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.527 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.527 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.527 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.527 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.527 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
14.527 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.527 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.528 * [backup-simplify]: Simplify -0.5 into -0.5
14.528 * [taylor]: Taking taylor expansion of phi1 in phi1
14.528 * [backup-simplify]: Simplify 0 into 0
14.528 * [backup-simplify]: Simplify 1 into 1
14.528 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.528 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.528 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
14.528 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
14.528 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.528 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.528 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.528 * [backup-simplify]: Simplify -0.5 into -0.5
14.528 * [taylor]: Taking taylor expansion of phi2 in phi1
14.528 * [backup-simplify]: Simplify phi2 into phi2
14.528 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.529 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.529 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.529 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
14.529 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.529 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.529 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.529 * [backup-simplify]: Simplify -0.5 into -0.5
14.529 * [taylor]: Taking taylor expansion of phi1 in phi1
14.529 * [backup-simplify]: Simplify 0 into 0
14.529 * [backup-simplify]: Simplify 1 into 1
14.529 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.529 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.530 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
14.530 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.530 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.530 * [backup-simplify]: Simplify -0.5 into -0.5
14.530 * [taylor]: Taking taylor expansion of phi2 in phi1
14.530 * [backup-simplify]: Simplify phi2 into phi2
14.530 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.530 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.530 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.530 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.530 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.530 * [backup-simplify]: Simplify -0.5 into -0.5
14.530 * [taylor]: Taking taylor expansion of phi1 in phi1
14.530 * [backup-simplify]: Simplify 0 into 0
14.530 * [backup-simplify]: Simplify 1 into 1
14.531 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.531 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
14.531 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
14.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.531 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.531 * [backup-simplify]: Simplify -0.5 into -0.5
14.531 * [taylor]: Taking taylor expansion of phi2 in phi1
14.531 * [backup-simplify]: Simplify phi2 into phi2
14.531 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.531 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
14.531 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
14.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.531 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.531 * [backup-simplify]: Simplify -0.5 into -0.5
14.531 * [taylor]: Taking taylor expansion of phi1 in phi1
14.531 * [backup-simplify]: Simplify 0 into 0
14.531 * [backup-simplify]: Simplify 1 into 1
14.532 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.532 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
14.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
14.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
14.532 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.532 * [backup-simplify]: Simplify -0.5 into -0.5
14.532 * [taylor]: Taking taylor expansion of phi2 in phi1
14.532 * [backup-simplify]: Simplify phi2 into phi2
14.532 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
14.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
14.532 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.533 * [backup-simplify]: Simplify -0.5 into -0.5
14.533 * [taylor]: Taking taylor expansion of phi1 in phi1
14.533 * [backup-simplify]: Simplify 0 into 0
14.533 * [backup-simplify]: Simplify 1 into 1
14.533 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
14.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.533 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.534 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.534 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.534 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.535 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.536 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.536 * [backup-simplify]: Simplify (- 0) into 0
14.536 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.537 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
14.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
14.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
14.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.538 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.539 * [backup-simplify]: Simplify (- 0) into 0
14.539 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
14.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
14.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
14.540 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
14.541 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.543 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
14.545 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
14.548 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
14.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.548 * [backup-simplify]: Simplify (+ 0) into 0
14.549 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.549 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.551 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.552 * [backup-simplify]: Simplify (- 0) into 0
14.553 * [backup-simplify]: Simplify (+ 0 0) into 0
14.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.554 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
14.554 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.554 * [backup-simplify]: Simplify (+ 0) into 0
14.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.555 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.556 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.556 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.557 * [backup-simplify]: Simplify (+ 0 0) into 0
14.557 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.557 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
14.558 * [backup-simplify]: Simplify (+ 0 0) into 0
14.558 * [backup-simplify]: Simplify (+ 0) into 0
14.559 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.559 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.560 * [backup-simplify]: Simplify (+ 0 0) into 0
14.561 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
14.561 * [backup-simplify]: Simplify (+ 0) into 0
14.562 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.562 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.563 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.564 * [backup-simplify]: Simplify (- 0) into 0
14.564 * [backup-simplify]: Simplify (+ 0 0) into 0
14.564 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
14.565 * [backup-simplify]: Simplify (+ 0) into 0
14.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.566 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.567 * [backup-simplify]: Simplify (- 0) into 0
14.567 * [backup-simplify]: Simplify (+ 0 0) into 0
14.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.568 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
14.568 * [backup-simplify]: Simplify (+ 0) into 0
14.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.570 * [backup-simplify]: Simplify (+ 0 0) into 0
14.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
14.571 * [backup-simplify]: Simplify (+ 0 0) into 0
14.572 * [backup-simplify]: Simplify (- 0) into 0
14.572 * [backup-simplify]: Simplify (+ 0 0) into 0
14.576 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
14.578 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
14.579 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
14.580 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
14.582 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 0) (* 0 1)) into 0
14.585 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))
14.587 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
14.588 * [backup-simplify]: Simplify (+ 0 0) into 0
14.588 * [backup-simplify]: Simplify (+ 0 0) into 0
14.588 * [taylor]: Taking taylor expansion of 0 in lambda1
14.588 * [backup-simplify]: Simplify 0 into 0
14.589 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
14.589 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
14.592 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
14.595 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0
14.595 * [taylor]: Taking taylor expansion of 0 in phi1
14.595 * [backup-simplify]: Simplify 0 into 0
14.596 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.597 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.598 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.599 * [backup-simplify]: Simplify (- 0) into 0
14.600 * [backup-simplify]: Simplify (+ 0 0) into 0
14.600 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
14.601 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
14.602 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
14.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.603 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.604 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.605 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.605 * [backup-simplify]: Simplify (+ 0 0) into 0
14.606 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
14.606 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
14.607 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
14.608 * [backup-simplify]: Simplify (+ 0 0) into 0
14.609 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.609 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.609 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.610 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.611 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.611 * [backup-simplify]: Simplify (+ 0 0) into 0
14.612 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.613 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.614 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.615 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.615 * [backup-simplify]: Simplify (- 0) into 0
14.615 * [backup-simplify]: Simplify (+ 0 0) into 0
14.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
14.616 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
14.617 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0
14.618 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.619 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.619 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.620 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.620 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.621 * [backup-simplify]: Simplify (- 0) into 0
14.621 * [backup-simplify]: Simplify (+ 0 0) into 0
14.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.623 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
14.623 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
14.624 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.624 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
14.625 * [backup-simplify]: Simplify (+ 0 0) into 0
14.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
14.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
14.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0
14.627 * [backup-simplify]: Simplify (+ 0 0) into 0
14.628 * [backup-simplify]: Simplify (- 0) into 0
14.628 * [backup-simplify]: Simplify (+ 0 0) into 0
14.632 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0
14.632 * [taylor]: Taking taylor expansion of 0 in phi1
14.632 * [backup-simplify]: Simplify 0 into 0
14.633 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
14.635 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 0) (* 0 1)) into 0
14.636 * [backup-simplify]: Simplify (- 0) into 0
14.636 * [taylor]: Taking taylor expansion of 0 in lambda1
14.636 * [backup-simplify]: Simplify 0 into 0
14.639 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
14.641 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
14.642 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1
14.642 * [taylor]: Taking taylor expansion of -1 in lambda1
14.642 * [backup-simplify]: Simplify -1 into -1
14.642 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1
14.642 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1
14.642 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1
14.642 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1
14.642 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
14.642 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
14.642 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
14.642 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.642 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.642 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.642 * [backup-simplify]: Simplify -0.5 into -0.5
14.642 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.642 * [backup-simplify]: Simplify phi2 into phi2
14.642 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.642 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.643 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.643 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.643 * [backup-simplify]: Simplify (- 0) into 0
14.643 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.644 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
14.644 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.644 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.644 * [backup-simplify]: Simplify -0.5 into -0.5
14.644 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.644 * [backup-simplify]: Simplify phi1 into phi1
14.644 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.644 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.644 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.644 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.644 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.645 * [backup-simplify]: Simplify (- 0) into 0
14.645 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.645 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
14.645 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
14.645 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.645 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.645 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.645 * [backup-simplify]: Simplify -0.5 into -0.5
14.645 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.645 * [backup-simplify]: Simplify phi2 into phi2
14.645 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.645 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.645 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.646 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.646 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
14.646 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.646 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.646 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.646 * [backup-simplify]: Simplify -0.5 into -0.5
14.646 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.646 * [backup-simplify]: Simplify phi1 into phi1
14.646 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.646 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.646 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.646 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.646 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.647 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.647 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1
14.647 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1
14.647 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.647 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.647 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.647 * [backup-simplify]: Simplify -0.5 into -0.5
14.647 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.647 * [backup-simplify]: Simplify phi2 into phi2
14.647 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.647 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.647 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.647 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1
14.647 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.647 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.647 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.647 * [backup-simplify]: Simplify -0.5 into -0.5
14.647 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.647 * [backup-simplify]: Simplify phi1 into phi1
14.647 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.648 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.648 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.648 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
14.648 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.648 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.648 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.648 * [backup-simplify]: Simplify -0.5 into -0.5
14.648 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.648 * [backup-simplify]: Simplify phi1 into phi1
14.648 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.648 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.648 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.648 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.648 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.648 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.648 * [backup-simplify]: Simplify -0.5 into -0.5
14.648 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.648 * [backup-simplify]: Simplify phi2 into phi2
14.648 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.649 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.649 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.649 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1
14.649 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
14.649 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.649 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.649 * [backup-simplify]: Simplify -0.5 into -0.5
14.649 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.649 * [backup-simplify]: Simplify phi2 into phi2
14.649 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.649 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.649 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.649 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1
14.649 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
14.649 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.649 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.649 * [backup-simplify]: Simplify -0.5 into -0.5
14.649 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.649 * [backup-simplify]: Simplify phi1 into phi1
14.649 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.650 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.650 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.650 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1
14.650 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
14.650 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
14.650 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.650 * [backup-simplify]: Simplify -0.5 into -0.5
14.650 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.650 * [backup-simplify]: Simplify phi1 into phi1
14.650 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
14.650 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
14.650 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
14.650 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
14.650 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
14.650 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.650 * [backup-simplify]: Simplify -0.5 into -0.5
14.650 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.650 * [backup-simplify]: Simplify phi2 into phi2
14.650 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
14.651 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
14.651 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
14.651 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
14.651 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
14.651 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
14.652 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
14.652 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
14.652 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
14.653 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
14.653 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.653 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.653 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.654 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.654 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.654 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.655 * [backup-simplify]: Simplify (- 0) into 0
14.655 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.655 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.655 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.655 * [backup-simplify]: Simplify (- 0) into 0
14.656 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.656 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
14.656 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
14.656 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
14.656 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
14.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
14.657 * [backup-simplify]: Simplify (- 0) into 0
14.657 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
14.657 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
14.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
14.658 * [backup-simplify]: Simplify (- 0) into 0
14.658 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
14.658 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
14.658 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
14.658 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
14.658 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
14.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
14.659 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
14.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))
14.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
14.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
14.660 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
14.661 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
14.664 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
14.666 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
14.668 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))
14.669 * [backup-simplify]: Simplify (+ 0) into 0
14.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.670 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.671 * [backup-simplify]: Simplify (- 0) into 0
14.672 * [backup-simplify]: Simplify (+ 0 0) into 0
14.672 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
14.673 * [backup-simplify]: Simplify (+ 0) into 0
14.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.674 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.675 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.675 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.676 * [backup-simplify]: Simplify (- 0) into 0
14.676 * [backup-simplify]: Simplify (+ 0 0) into 0
14.676 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.677 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
14.677 * [backup-simplify]: Simplify (+ 0) into 0
14.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.678 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.679 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.679 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.680 * [backup-simplify]: Simplify (+ 0 0) into 0
14.680 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
14.680 * [backup-simplify]: Simplify (+ 0) into 0
14.681 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.681 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.682 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.683 * [backup-simplify]: Simplify (+ 0 0) into 0
14.683 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.683 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
14.684 * [backup-simplify]: Simplify (+ 0 0) into 0
14.684 * [backup-simplify]: Simplify (+ 0) into 0
14.685 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.685 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.686 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.686 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.686 * [backup-simplify]: Simplify (- 0) into 0
14.687 * [backup-simplify]: Simplify (+ 0 0) into 0
14.687 * [backup-simplify]: Simplify (+ 0) into 0
14.688 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.688 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.698 * [backup-simplify]: Simplify (- 0) into 0
14.698 * [backup-simplify]: Simplify (+ 0 0) into 0
14.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
14.699 * [backup-simplify]: Simplify (+ 0) into 0
14.699 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.700 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.701 * [backup-simplify]: Simplify (+ 0 0) into 0
14.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0
14.702 * [backup-simplify]: Simplify (+ 0) into 0
14.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.703 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.704 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.705 * [backup-simplify]: Simplify (+ 0 0) into 0
14.705 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
14.705 * [backup-simplify]: Simplify (+ 0) into 0
14.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.706 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.707 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.708 * [backup-simplify]: Simplify (+ 0 0) into 0
14.708 * [backup-simplify]: Simplify (+ 0) into 0
14.709 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.709 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.710 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.711 * [backup-simplify]: Simplify (+ 0 0) into 0
14.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
14.711 * [backup-simplify]: Simplify (+ 0) into 0
14.712 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
14.712 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
14.713 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.713 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
14.713 * [backup-simplify]: Simplify (- 0) into 0
14.714 * [backup-simplify]: Simplify (+ 0 0) into 0
14.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0
14.715 * [backup-simplify]: Simplify (+ 0) into 0
14.715 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
14.715 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
14.716 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.717 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
14.717 * [backup-simplify]: Simplify (- 0) into 0
14.717 * [backup-simplify]: Simplify (+ 0 0) into 0
14.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
14.718 * [backup-simplify]: Simplify (+ 0 0) into 0
14.718 * [backup-simplify]: Simplify (- 0) into 0
14.719 * [backup-simplify]: Simplify (+ 0 0) into 0
14.723 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0
14.726 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
14.726 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1
14.726 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
14.726 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
14.726 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
14.726 * [taylor]: Taking taylor expansion of -0.5 in lambda1
14.726 * [backup-simplify]: Simplify -0.5 into -0.5
14.726 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
14.726 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
14.726 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.726 * [backup-simplify]: Simplify phi1 into phi1
14.726 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.726 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
14.726 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.726 * [backup-simplify]: Simplify phi2 into phi2
14.726 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.726 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
14.727 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
14.727 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.727 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.727 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.727 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
14.728 * [backup-simplify]: Simplify (- 0) into 0
14.728 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.728 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.728 * [backup-simplify]: Simplify 0 into 0
14.728 * [backup-simplify]: Simplify 1 into 1
14.729 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
14.729 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
14.731 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
14.734 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
14.737 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (* -1 (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
14.738 * [taylor]: Taking taylor expansion of 0 in lambda1
14.738 * [backup-simplify]: Simplify 0 into 0
14.738 * [taylor]: Taking taylor expansion of 0 in lambda1
14.738 * [backup-simplify]: Simplify 0 into 0
14.740 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))
14.742 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
14.758 * [backup-simplify]: Simplify (+ (* (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1)))))))))))) (* 1 (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (/ 1 (- lambda2)))))) (+ (* (* -1 (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1)))) (* (- (* (/ (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (pow (/ 1 (- lambda2)) 2))))))) into (+ (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 3))))))
14.759 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1 1)
14.759 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
14.759 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0
14.759 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
14.759 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
14.759 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.759 * [backup-simplify]: Simplify 0.5 into 0.5
14.759 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
14.759 * [taylor]: Taking taylor expansion of phi2 in phi1
14.759 * [backup-simplify]: Simplify phi2 into phi2
14.759 * [taylor]: Taking taylor expansion of phi1 in phi1
14.759 * [backup-simplify]: Simplify 0 into 0
14.759 * [backup-simplify]: Simplify 1 into 1
14.759 * [backup-simplify]: Simplify (+ phi2 0) into phi2
14.759 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.759 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.760 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.760 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
14.760 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
14.760 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.760 * [backup-simplify]: Simplify 0.5 into 0.5
14.760 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
14.760 * [taylor]: Taking taylor expansion of phi2 in phi2
14.760 * [backup-simplify]: Simplify 0 into 0
14.760 * [backup-simplify]: Simplify 1 into 1
14.760 * [taylor]: Taking taylor expansion of phi1 in phi2
14.760 * [backup-simplify]: Simplify phi1 into phi1
14.760 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
14.760 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.760 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.760 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.760 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
14.760 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
14.760 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.760 * [backup-simplify]: Simplify 0.5 into 0.5
14.760 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
14.760 * [taylor]: Taking taylor expansion of phi2 in phi2
14.760 * [backup-simplify]: Simplify 0 into 0
14.761 * [backup-simplify]: Simplify 1 into 1
14.761 * [taylor]: Taking taylor expansion of phi1 in phi2
14.761 * [backup-simplify]: Simplify phi1 into phi1
14.761 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
14.761 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.761 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.761 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.761 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.761 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.762 * [backup-simplify]: Simplify (- 0) into 0
14.762 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.762 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.762 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.762 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.762 * [backup-simplify]: Simplify 0.5 into 0.5
14.762 * [taylor]: Taking taylor expansion of phi1 in phi1
14.762 * [backup-simplify]: Simplify 0 into 0
14.762 * [backup-simplify]: Simplify 1 into 1
14.763 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.764 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.764 * [backup-simplify]: Simplify 1 into 1
14.765 * [backup-simplify]: Simplify (+ 0) into 0
14.765 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
14.766 * [backup-simplify]: Simplify (+ 1 0) into 1
14.766 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
14.769 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
14.770 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
14.770 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
14.770 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
14.770 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1
14.770 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1
14.770 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.770 * [backup-simplify]: Simplify 0.5 into 0.5
14.770 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
14.771 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.771 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.771 * [backup-simplify]: Simplify 0.5 into 0.5
14.771 * [taylor]: Taking taylor expansion of phi1 in phi1
14.771 * [backup-simplify]: Simplify 0 into 0
14.771 * [backup-simplify]: Simplify 1 into 1
14.771 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.773 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.773 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.773 * [backup-simplify]: Simplify (- 0) into 0
14.774 * [backup-simplify]: Simplify 0 into 0
14.774 * [backup-simplify]: Simplify (+ 0) into 0
14.774 * [backup-simplify]: Simplify 0 into 0
14.777 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
14.778 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
14.778 * [backup-simplify]: Simplify (+ 0 0) into 0
14.779 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
14.780 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.781 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
14.781 * [backup-simplify]: Simplify (- 0) into 0
14.781 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
14.781 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1
14.781 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1
14.781 * [taylor]: Taking taylor expansion of 0.125 in phi1
14.781 * [backup-simplify]: Simplify 0.125 into 0.125
14.781 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.782 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.782 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.782 * [backup-simplify]: Simplify 0.5 into 0.5
14.782 * [taylor]: Taking taylor expansion of phi1 in phi1
14.782 * [backup-simplify]: Simplify 0 into 0
14.782 * [backup-simplify]: Simplify 1 into 1
14.782 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.783 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.784 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
14.784 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
14.785 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
14.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
14.788 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
14.789 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
14.789 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
14.790 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
14.791 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.791 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
14.791 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.791 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.791 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.791 * [backup-simplify]: Simplify 0.5 into 0.5
14.791 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.791 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.791 * [taylor]: Taking taylor expansion of phi1 in phi1
14.791 * [backup-simplify]: Simplify 0 into 0
14.791 * [backup-simplify]: Simplify 1 into 1
14.791 * [backup-simplify]: Simplify (/ 1 1) into 1
14.791 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.791 * [taylor]: Taking taylor expansion of phi2 in phi1
14.791 * [backup-simplify]: Simplify phi2 into phi2
14.791 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.792 * [backup-simplify]: Simplify (+ 1 0) into 1
14.792 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
14.792 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.792 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
14.792 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
14.793 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.793 * [backup-simplify]: Simplify 0.5 into 0.5
14.793 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
14.793 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
14.793 * [taylor]: Taking taylor expansion of phi1 in phi2
14.793 * [backup-simplify]: Simplify phi1 into phi1
14.793 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.793 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
14.793 * [taylor]: Taking taylor expansion of phi2 in phi2
14.793 * [backup-simplify]: Simplify 0 into 0
14.793 * [backup-simplify]: Simplify 1 into 1
14.794 * [backup-simplify]: Simplify (/ 1 1) into 1
14.794 * [backup-simplify]: Simplify (+ 0 1) into 1
14.795 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
14.795 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.795 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
14.795 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
14.795 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.795 * [backup-simplify]: Simplify 0.5 into 0.5
14.795 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
14.795 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
14.795 * [taylor]: Taking taylor expansion of phi1 in phi2
14.795 * [backup-simplify]: Simplify phi1 into phi1
14.795 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.795 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
14.795 * [taylor]: Taking taylor expansion of phi2 in phi2
14.795 * [backup-simplify]: Simplify 0 into 0
14.795 * [backup-simplify]: Simplify 1 into 1
14.796 * [backup-simplify]: Simplify (/ 1 1) into 1
14.796 * [backup-simplify]: Simplify (+ 0 1) into 1
14.796 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
14.797 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.797 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.797 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.797 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.797 * [backup-simplify]: Simplify 0.5 into 0.5
14.797 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.797 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.797 * [taylor]: Taking taylor expansion of phi1 in phi1
14.797 * [backup-simplify]: Simplify 0 into 0
14.797 * [backup-simplify]: Simplify 1 into 1
14.797 * [backup-simplify]: Simplify (/ 1 1) into 1
14.798 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.798 * [taylor]: Taking taylor expansion of phi2 in phi1
14.798 * [backup-simplify]: Simplify phi2 into phi2
14.798 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.798 * [backup-simplify]: Simplify (+ 1 0) into 1
14.799 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
14.799 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.799 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.799 * [taylor]: Taking taylor expansion of 0 in phi1
14.799 * [backup-simplify]: Simplify 0 into 0
14.799 * [backup-simplify]: Simplify 0 into 0
14.799 * [backup-simplify]: Simplify 0 into 0
14.799 * [taylor]: Taking taylor expansion of 0 in phi1
14.799 * [backup-simplify]: Simplify 0 into 0
14.799 * [backup-simplify]: Simplify 0 into 0
14.799 * [backup-simplify]: Simplify 0 into 0
14.799 * [backup-simplify]: Simplify 0 into 0
14.799 * [taylor]: Taking taylor expansion of 0 in phi1
14.799 * [backup-simplify]: Simplify 0 into 0
14.799 * [backup-simplify]: Simplify 0 into 0
14.800 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1)))
14.800 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.800 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
14.800 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.800 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.800 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.800 * [backup-simplify]: Simplify -0.5 into -0.5
14.800 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.800 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.800 * [taylor]: Taking taylor expansion of phi1 in phi1
14.800 * [backup-simplify]: Simplify 0 into 0
14.800 * [backup-simplify]: Simplify 1 into 1
14.801 * [backup-simplify]: Simplify (/ 1 1) into 1
14.801 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.801 * [taylor]: Taking taylor expansion of phi2 in phi1
14.801 * [backup-simplify]: Simplify phi2 into phi2
14.801 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.801 * [backup-simplify]: Simplify (+ 1 0) into 1
14.802 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.802 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.802 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
14.802 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
14.802 * [taylor]: Taking taylor expansion of -0.5 in phi2
14.802 * [backup-simplify]: Simplify -0.5 into -0.5
14.802 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
14.802 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
14.802 * [taylor]: Taking taylor expansion of phi1 in phi2
14.802 * [backup-simplify]: Simplify phi1 into phi1
14.802 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.802 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
14.802 * [taylor]: Taking taylor expansion of phi2 in phi2
14.802 * [backup-simplify]: Simplify 0 into 0
14.803 * [backup-simplify]: Simplify 1 into 1
14.803 * [backup-simplify]: Simplify (/ 1 1) into 1
14.803 * [backup-simplify]: Simplify (+ 0 1) into 1
14.804 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.804 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.804 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
14.804 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
14.804 * [taylor]: Taking taylor expansion of -0.5 in phi2
14.804 * [backup-simplify]: Simplify -0.5 into -0.5
14.804 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
14.804 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
14.804 * [taylor]: Taking taylor expansion of phi1 in phi2
14.804 * [backup-simplify]: Simplify phi1 into phi1
14.804 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.804 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
14.804 * [taylor]: Taking taylor expansion of phi2 in phi2
14.804 * [backup-simplify]: Simplify 0 into 0
14.804 * [backup-simplify]: Simplify 1 into 1
14.805 * [backup-simplify]: Simplify (/ 1 1) into 1
14.805 * [backup-simplify]: Simplify (+ 0 1) into 1
14.806 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.806 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.806 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.806 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.806 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.806 * [backup-simplify]: Simplify -0.5 into -0.5
14.806 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.806 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.806 * [taylor]: Taking taylor expansion of phi1 in phi1
14.806 * [backup-simplify]: Simplify 0 into 0
14.806 * [backup-simplify]: Simplify 1 into 1
14.807 * [backup-simplify]: Simplify (/ 1 1) into 1
14.807 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.807 * [taylor]: Taking taylor expansion of phi2 in phi1
14.807 * [backup-simplify]: Simplify phi2 into phi2
14.807 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.807 * [backup-simplify]: Simplify (+ 1 0) into 1
14.808 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.808 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.808 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.808 * [taylor]: Taking taylor expansion of 0 in phi1
14.808 * [backup-simplify]: Simplify 0 into 0
14.808 * [backup-simplify]: Simplify 0 into 0
14.808 * [backup-simplify]: Simplify 0 into 0
14.808 * [taylor]: Taking taylor expansion of 0 in phi1
14.808 * [backup-simplify]: Simplify 0 into 0
14.808 * [backup-simplify]: Simplify 0 into 0
14.809 * [backup-simplify]: Simplify 0 into 0
14.809 * [backup-simplify]: Simplify 0 into 0
14.809 * [taylor]: Taking taylor expansion of 0 in phi1
14.809 * [backup-simplify]: Simplify 0 into 0
14.809 * [backup-simplify]: Simplify 0 into 0
14.809 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1)))
14.809 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1 1 2 1 1)
14.809 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
14.809 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0
14.809 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
14.809 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
14.809 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.809 * [backup-simplify]: Simplify 0.5 into 0.5
14.809 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
14.809 * [taylor]: Taking taylor expansion of phi2 in phi1
14.809 * [backup-simplify]: Simplify phi2 into phi2
14.809 * [taylor]: Taking taylor expansion of phi1 in phi1
14.809 * [backup-simplify]: Simplify 0 into 0
14.810 * [backup-simplify]: Simplify 1 into 1
14.810 * [backup-simplify]: Simplify (+ phi2 0) into phi2
14.810 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.810 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.810 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.810 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
14.810 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
14.810 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.810 * [backup-simplify]: Simplify 0.5 into 0.5
14.810 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
14.810 * [taylor]: Taking taylor expansion of phi2 in phi2
14.810 * [backup-simplify]: Simplify 0 into 0
14.810 * [backup-simplify]: Simplify 1 into 1
14.810 * [taylor]: Taking taylor expansion of phi1 in phi2
14.810 * [backup-simplify]: Simplify phi1 into phi1
14.810 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
14.810 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.810 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.810 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.810 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
14.810 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
14.810 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.811 * [backup-simplify]: Simplify 0.5 into 0.5
14.811 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
14.811 * [taylor]: Taking taylor expansion of phi2 in phi2
14.811 * [backup-simplify]: Simplify 0 into 0
14.811 * [backup-simplify]: Simplify 1 into 1
14.811 * [taylor]: Taking taylor expansion of phi1 in phi2
14.811 * [backup-simplify]: Simplify phi1 into phi1
14.811 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
14.811 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.811 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.811 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.811 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.811 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.812 * [backup-simplify]: Simplify (- 0) into 0
14.812 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.812 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.812 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.812 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.812 * [backup-simplify]: Simplify 0.5 into 0.5
14.812 * [taylor]: Taking taylor expansion of phi1 in phi1
14.812 * [backup-simplify]: Simplify 0 into 0
14.812 * [backup-simplify]: Simplify 1 into 1
14.812 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.814 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.814 * [backup-simplify]: Simplify 1 into 1
14.814 * [backup-simplify]: Simplify (+ 0) into 0
14.815 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
14.815 * [backup-simplify]: Simplify (+ 1 0) into 1
14.816 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
14.818 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
14.819 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
14.819 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
14.819 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
14.819 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1
14.819 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1
14.819 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.819 * [backup-simplify]: Simplify 0.5 into 0.5
14.819 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
14.819 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.819 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.819 * [backup-simplify]: Simplify 0.5 into 0.5
14.819 * [taylor]: Taking taylor expansion of phi1 in phi1
14.819 * [backup-simplify]: Simplify 0 into 0
14.819 * [backup-simplify]: Simplify 1 into 1
14.820 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.822 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.822 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.822 * [backup-simplify]: Simplify (- 0) into 0
14.823 * [backup-simplify]: Simplify 0 into 0
14.823 * [backup-simplify]: Simplify (+ 0) into 0
14.823 * [backup-simplify]: Simplify 0 into 0
14.826 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
14.827 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
14.827 * [backup-simplify]: Simplify (+ 0 0) into 0
14.828 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
14.829 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.830 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
14.830 * [backup-simplify]: Simplify (- 0) into 0
14.830 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
14.830 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1
14.830 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1
14.830 * [taylor]: Taking taylor expansion of 0.125 in phi1
14.830 * [backup-simplify]: Simplify 0.125 into 0.125
14.830 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.830 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.830 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.830 * [backup-simplify]: Simplify 0.5 into 0.5
14.830 * [taylor]: Taking taylor expansion of phi1 in phi1
14.830 * [backup-simplify]: Simplify 0 into 0
14.830 * [backup-simplify]: Simplify 1 into 1
14.831 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.832 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.833 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
14.833 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
14.833 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
14.836 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
14.837 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
14.837 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
14.838 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
14.839 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
14.839 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.839 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
14.839 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.839 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.839 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.839 * [backup-simplify]: Simplify 0.5 into 0.5
14.839 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.839 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.840 * [taylor]: Taking taylor expansion of phi1 in phi1
14.840 * [backup-simplify]: Simplify 0 into 0
14.840 * [backup-simplify]: Simplify 1 into 1
14.840 * [backup-simplify]: Simplify (/ 1 1) into 1
14.840 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.840 * [taylor]: Taking taylor expansion of phi2 in phi1
14.840 * [backup-simplify]: Simplify phi2 into phi2
14.840 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.841 * [backup-simplify]: Simplify (+ 1 0) into 1
14.841 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
14.841 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.841 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
14.841 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
14.841 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.841 * [backup-simplify]: Simplify 0.5 into 0.5
14.841 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
14.841 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
14.841 * [taylor]: Taking taylor expansion of phi1 in phi2
14.841 * [backup-simplify]: Simplify phi1 into phi1
14.841 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.841 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
14.841 * [taylor]: Taking taylor expansion of phi2 in phi2
14.842 * [backup-simplify]: Simplify 0 into 0
14.842 * [backup-simplify]: Simplify 1 into 1
14.842 * [backup-simplify]: Simplify (/ 1 1) into 1
14.842 * [backup-simplify]: Simplify (+ 0 1) into 1
14.843 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
14.843 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.843 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
14.843 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
14.843 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.843 * [backup-simplify]: Simplify 0.5 into 0.5
14.843 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
14.843 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
14.843 * [taylor]: Taking taylor expansion of phi1 in phi2
14.843 * [backup-simplify]: Simplify phi1 into phi1
14.843 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.843 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
14.843 * [taylor]: Taking taylor expansion of phi2 in phi2
14.843 * [backup-simplify]: Simplify 0 into 0
14.843 * [backup-simplify]: Simplify 1 into 1
14.844 * [backup-simplify]: Simplify (/ 1 1) into 1
14.844 * [backup-simplify]: Simplify (+ 0 1) into 1
14.844 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
14.845 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.845 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.845 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.845 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.845 * [backup-simplify]: Simplify 0.5 into 0.5
14.845 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.845 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.845 * [taylor]: Taking taylor expansion of phi1 in phi1
14.845 * [backup-simplify]: Simplify 0 into 0
14.845 * [backup-simplify]: Simplify 1 into 1
14.845 * [backup-simplify]: Simplify (/ 1 1) into 1
14.845 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.845 * [taylor]: Taking taylor expansion of phi2 in phi1
14.845 * [backup-simplify]: Simplify phi2 into phi2
14.845 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.845 * [backup-simplify]: Simplify (+ 1 0) into 1
14.846 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
14.846 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.846 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.846 * [taylor]: Taking taylor expansion of 0 in phi1
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [taylor]: Taking taylor expansion of 0 in phi1
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [taylor]: Taking taylor expansion of 0 in phi1
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [backup-simplify]: Simplify 0 into 0
14.846 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1)))
14.847 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.847 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
14.847 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.847 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.847 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.847 * [backup-simplify]: Simplify -0.5 into -0.5
14.847 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.847 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.847 * [taylor]: Taking taylor expansion of phi1 in phi1
14.847 * [backup-simplify]: Simplify 0 into 0
14.847 * [backup-simplify]: Simplify 1 into 1
14.847 * [backup-simplify]: Simplify (/ 1 1) into 1
14.847 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.847 * [taylor]: Taking taylor expansion of phi2 in phi1
14.847 * [backup-simplify]: Simplify phi2 into phi2
14.847 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.847 * [backup-simplify]: Simplify (+ 1 0) into 1
14.848 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.848 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.848 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
14.848 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
14.848 * [taylor]: Taking taylor expansion of -0.5 in phi2
14.848 * [backup-simplify]: Simplify -0.5 into -0.5
14.848 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
14.848 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
14.848 * [taylor]: Taking taylor expansion of phi1 in phi2
14.848 * [backup-simplify]: Simplify phi1 into phi1
14.848 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.848 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
14.848 * [taylor]: Taking taylor expansion of phi2 in phi2
14.848 * [backup-simplify]: Simplify 0 into 0
14.848 * [backup-simplify]: Simplify 1 into 1
14.848 * [backup-simplify]: Simplify (/ 1 1) into 1
14.848 * [backup-simplify]: Simplify (+ 0 1) into 1
14.849 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.849 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.849 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
14.849 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
14.849 * [taylor]: Taking taylor expansion of -0.5 in phi2
14.849 * [backup-simplify]: Simplify -0.5 into -0.5
14.849 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
14.849 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
14.849 * [taylor]: Taking taylor expansion of phi1 in phi2
14.849 * [backup-simplify]: Simplify phi1 into phi1
14.849 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
14.849 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
14.849 * [taylor]: Taking taylor expansion of phi2 in phi2
14.849 * [backup-simplify]: Simplify 0 into 0
14.849 * [backup-simplify]: Simplify 1 into 1
14.849 * [backup-simplify]: Simplify (/ 1 1) into 1
14.850 * [backup-simplify]: Simplify (+ 0 1) into 1
14.850 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.850 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.850 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
14.850 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
14.850 * [taylor]: Taking taylor expansion of -0.5 in phi1
14.850 * [backup-simplify]: Simplify -0.5 into -0.5
14.850 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
14.850 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
14.850 * [taylor]: Taking taylor expansion of phi1 in phi1
14.850 * [backup-simplify]: Simplify 0 into 0
14.850 * [backup-simplify]: Simplify 1 into 1
14.850 * [backup-simplify]: Simplify (/ 1 1) into 1
14.851 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
14.851 * [taylor]: Taking taylor expansion of phi2 in phi1
14.851 * [backup-simplify]: Simplify phi2 into phi2
14.851 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
14.851 * [backup-simplify]: Simplify (+ 1 0) into 1
14.851 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
14.851 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.851 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
14.851 * [taylor]: Taking taylor expansion of 0 in phi1
14.851 * [backup-simplify]: Simplify 0 into 0
14.852 * [backup-simplify]: Simplify 0 into 0
14.852 * [backup-simplify]: Simplify 0 into 0
14.852 * [taylor]: Taking taylor expansion of 0 in phi1
14.852 * [backup-simplify]: Simplify 0 into 0
14.852 * [backup-simplify]: Simplify 0 into 0
14.852 * [backup-simplify]: Simplify 0 into 0
14.852 * [backup-simplify]: Simplify 0 into 0
14.852 * [taylor]: Taking taylor expansion of 0 in phi1
14.852 * [backup-simplify]: Simplify 0 into 0
14.852 * [backup-simplify]: Simplify 0 into 0
14.852 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1)))
14.852 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1)
14.854 * [backup-simplify]: Simplify (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))
14.854 * [approximate]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in (lambda2 phi2 phi1 lambda1) around 0
14.854 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in lambda1
14.854 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda1
14.854 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1
14.854 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1
14.854 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
14.854 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
14.854 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.854 * [backup-simplify]: Simplify 0.5 into 0.5
14.854 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.854 * [backup-simplify]: Simplify phi2 into phi2
14.854 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.854 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.854 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.854 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
14.854 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
14.860 * [backup-simplify]: Simplify (- 0) into 0
14.860 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
14.860 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1
14.860 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1
14.860 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
14.860 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
14.860 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.860 * [backup-simplify]: Simplify 0.5 into 0.5
14.860 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.860 * [backup-simplify]: Simplify phi1 into phi1
14.860 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.860 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.860 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.860 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.860 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.861 * [backup-simplify]: Simplify (- 0) into 0
14.861 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.861 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
14.861 * [taylor]: Taking taylor expansion of lambda2 in lambda1
14.861 * [backup-simplify]: Simplify lambda2 into lambda2
14.861 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda1
14.861 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda1
14.861 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
14.861 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
14.861 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
14.861 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.861 * [backup-simplify]: Simplify 0.5 into 0.5
14.861 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
14.861 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.861 * [backup-simplify]: Simplify phi2 into phi2
14.861 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.861 * [backup-simplify]: Simplify phi1 into phi1
14.861 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
14.861 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
14.861 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
14.862 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
14.862 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
14.862 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
14.862 * [backup-simplify]: Simplify (- 0) into 0
14.862 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
14.862 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
14.862 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.862 * [backup-simplify]: Simplify 0 into 0
14.862 * [backup-simplify]: Simplify 1 into 1
14.862 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1
14.862 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1
14.862 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
14.862 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
14.862 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.862 * [backup-simplify]: Simplify 0.5 into 0.5
14.862 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.862 * [backup-simplify]: Simplify phi2 into phi2
14.862 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.862 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.862 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.862 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
14.863 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
14.863 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
14.863 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1
14.863 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
14.863 * [taylor]: Taking taylor expansion of lambda2 in lambda1
14.863 * [backup-simplify]: Simplify lambda2 into lambda2
14.863 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1
14.863 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
14.863 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
14.863 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.863 * [backup-simplify]: Simplify 0.5 into 0.5
14.863 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.863 * [backup-simplify]: Simplify phi1 into phi1
14.863 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.863 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.863 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.863 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
14.863 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
14.863 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
14.863 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in lambda1
14.863 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1
14.863 * [taylor]: Taking taylor expansion of 2 in lambda1
14.863 * [backup-simplify]: Simplify 2 into 2
14.863 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1
14.863 * [taylor]: Taking taylor expansion of lambda2 in lambda1
14.863 * [backup-simplify]: Simplify lambda2 into lambda2
14.863 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1
14.863 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
14.863 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
14.863 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
14.863 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.863 * [backup-simplify]: Simplify 0.5 into 0.5
14.863 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
14.863 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.863 * [backup-simplify]: Simplify phi2 into phi2
14.863 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.863 * [backup-simplify]: Simplify phi1 into phi1
14.863 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
14.863 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
14.864 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
14.864 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
14.864 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
14.864 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
14.864 * [backup-simplify]: Simplify (- 0) into 0
14.864 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
14.864 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.864 * [backup-simplify]: Simplify 0 into 0
14.864 * [backup-simplify]: Simplify 1 into 1
14.864 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda1
14.864 * [taylor]: Taking taylor expansion of 2 in lambda1
14.864 * [backup-simplify]: Simplify 2 into 2
14.864 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda1
14.864 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
14.864 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
14.864 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.864 * [backup-simplify]: Simplify 0.5 into 0.5
14.864 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.864 * [backup-simplify]: Simplify phi2 into phi2
14.864 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.864 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.865 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.865 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1
14.865 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
14.865 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
14.865 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.865 * [backup-simplify]: Simplify 0.5 into 0.5
14.865 * [taylor]: Taking taylor expansion of phi2 in lambda1
14.865 * [backup-simplify]: Simplify phi2 into phi2
14.865 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.865 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.865 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.865 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1
14.865 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
14.865 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
14.865 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.865 * [backup-simplify]: Simplify 0.5 into 0.5
14.865 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.865 * [backup-simplify]: Simplify phi1 into phi1
14.865 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.865 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.865 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.865 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1
14.865 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
14.865 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
14.865 * [taylor]: Taking taylor expansion of 0.5 in lambda1
14.865 * [backup-simplify]: Simplify 0.5 into 0.5
14.865 * [taylor]: Taking taylor expansion of phi1 in lambda1
14.865 * [backup-simplify]: Simplify phi1 into phi1
14.865 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.865 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.865 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.865 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
14.865 * [taylor]: Taking taylor expansion of lambda2 in lambda1
14.865 * [backup-simplify]: Simplify lambda2 into lambda2
14.865 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in phi1
14.865 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi1
14.865 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1
14.865 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1
14.865 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
14.865 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
14.866 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.866 * [backup-simplify]: Simplify 0.5 into 0.5
14.866 * [taylor]: Taking taylor expansion of phi2 in phi1
14.866 * [backup-simplify]: Simplify phi2 into phi2
14.866 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.866 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.866 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.866 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
14.866 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
14.866 * [backup-simplify]: Simplify (- 0) into 0
14.866 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
14.866 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1
14.866 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
14.866 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.866 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.866 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.866 * [backup-simplify]: Simplify 0.5 into 0.5
14.866 * [taylor]: Taking taylor expansion of phi1 in phi1
14.866 * [backup-simplify]: Simplify 0 into 0
14.866 * [backup-simplify]: Simplify 1 into 1
14.867 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.867 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.867 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
14.868 * [taylor]: Taking taylor expansion of lambda2 in phi1
14.868 * [backup-simplify]: Simplify lambda2 into lambda2
14.868 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi1
14.868 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi1
14.868 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
14.868 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
14.868 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
14.868 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.868 * [backup-simplify]: Simplify 0.5 into 0.5
14.868 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
14.868 * [taylor]: Taking taylor expansion of phi2 in phi1
14.868 * [backup-simplify]: Simplify phi2 into phi2
14.868 * [taylor]: Taking taylor expansion of phi1 in phi1
14.868 * [backup-simplify]: Simplify 0 into 0
14.868 * [backup-simplify]: Simplify 1 into 1
14.868 * [backup-simplify]: Simplify (+ phi2 0) into phi2
14.868 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.868 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.868 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.868 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
14.868 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
14.868 * [backup-simplify]: Simplify (- 0) into 0
14.868 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
14.868 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
14.868 * [taylor]: Taking taylor expansion of lambda1 in phi1
14.868 * [backup-simplify]: Simplify lambda1 into lambda1
14.869 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1
14.869 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1
14.869 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
14.869 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
14.869 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.869 * [backup-simplify]: Simplify 0.5 into 0.5
14.869 * [taylor]: Taking taylor expansion of phi2 in phi1
14.869 * [backup-simplify]: Simplify phi2 into phi2
14.869 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.869 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.869 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.869 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
14.869 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
14.869 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
14.869 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1
14.869 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
14.869 * [taylor]: Taking taylor expansion of lambda2 in phi1
14.869 * [backup-simplify]: Simplify lambda2 into lambda2
14.869 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
14.869 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
14.869 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.869 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.869 * [backup-simplify]: Simplify 0.5 into 0.5
14.869 * [taylor]: Taking taylor expansion of phi1 in phi1
14.870 * [backup-simplify]: Simplify 0 into 0
14.870 * [backup-simplify]: Simplify 1 into 1
14.870 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.871 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.873 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
14.873 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in phi1
14.874 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1
14.874 * [taylor]: Taking taylor expansion of 2 in phi1
14.874 * [backup-simplify]: Simplify 2 into 2
14.874 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1
14.874 * [taylor]: Taking taylor expansion of lambda2 in phi1
14.874 * [backup-simplify]: Simplify lambda2 into lambda2
14.874 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1
14.874 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
14.874 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
14.874 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
14.874 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.874 * [backup-simplify]: Simplify 0.5 into 0.5
14.874 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
14.874 * [taylor]: Taking taylor expansion of phi2 in phi1
14.874 * [backup-simplify]: Simplify phi2 into phi2
14.874 * [taylor]: Taking taylor expansion of phi1 in phi1
14.874 * [backup-simplify]: Simplify 0 into 0
14.874 * [backup-simplify]: Simplify 1 into 1
14.874 * [backup-simplify]: Simplify (+ phi2 0) into phi2
14.874 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.874 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.874 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.874 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
14.874 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
14.875 * [backup-simplify]: Simplify (- 0) into 0
14.875 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
14.875 * [taylor]: Taking taylor expansion of lambda1 in phi1
14.875 * [backup-simplify]: Simplify lambda1 into lambda1
14.875 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi1
14.875 * [taylor]: Taking taylor expansion of 2 in phi1
14.875 * [backup-simplify]: Simplify 2 into 2
14.875 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1
14.875 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
14.875 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
14.875 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.875 * [backup-simplify]: Simplify 0.5 into 0.5
14.875 * [taylor]: Taking taylor expansion of phi2 in phi1
14.875 * [backup-simplify]: Simplify phi2 into phi2
14.875 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.875 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.875 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.875 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1
14.875 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
14.876 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
14.876 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.876 * [backup-simplify]: Simplify 0.5 into 0.5
14.876 * [taylor]: Taking taylor expansion of phi2 in phi1
14.876 * [backup-simplify]: Simplify phi2 into phi2
14.876 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.876 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.876 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.876 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1
14.876 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.876 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.876 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.876 * [backup-simplify]: Simplify 0.5 into 0.5
14.876 * [taylor]: Taking taylor expansion of phi1 in phi1
14.876 * [backup-simplify]: Simplify 0 into 0
14.876 * [backup-simplify]: Simplify 1 into 1
14.876 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.878 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.878 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1
14.878 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
14.878 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.878 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.878 * [backup-simplify]: Simplify 0.5 into 0.5
14.878 * [taylor]: Taking taylor expansion of phi1 in phi1
14.878 * [backup-simplify]: Simplify 0 into 0
14.878 * [backup-simplify]: Simplify 1 into 1
14.878 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.880 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.880 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
14.880 * [taylor]: Taking taylor expansion of lambda2 in phi1
14.880 * [backup-simplify]: Simplify lambda2 into lambda2
14.880 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in phi2
14.880 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in phi2
14.880 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2
14.880 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
14.880 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
14.880 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
14.880 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.880 * [backup-simplify]: Simplify 0.5 into 0.5
14.880 * [taylor]: Taking taylor expansion of phi2 in phi2
14.880 * [backup-simplify]: Simplify 0 into 0
14.880 * [backup-simplify]: Simplify 1 into 1
14.880 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.882 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.882 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2
14.882 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
14.882 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
14.882 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
14.882 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.882 * [backup-simplify]: Simplify 0.5 into 0.5
14.882 * [taylor]: Taking taylor expansion of phi1 in phi2
14.882 * [backup-simplify]: Simplify phi1 into phi1
14.882 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.882 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.882 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.882 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.882 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.883 * [backup-simplify]: Simplify (- 0) into 0
14.883 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.883 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
14.883 * [taylor]: Taking taylor expansion of lambda2 in phi2
14.883 * [backup-simplify]: Simplify lambda2 into lambda2
14.883 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in phi2
14.883 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
14.883 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
14.883 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
14.883 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
14.883 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.883 * [backup-simplify]: Simplify 0.5 into 0.5
14.883 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
14.883 * [taylor]: Taking taylor expansion of phi2 in phi2
14.883 * [backup-simplify]: Simplify 0 into 0
14.883 * [backup-simplify]: Simplify 1 into 1
14.883 * [taylor]: Taking taylor expansion of phi1 in phi2
14.883 * [backup-simplify]: Simplify phi1 into phi1
14.883 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
14.883 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.883 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.884 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.884 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.884 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.884 * [backup-simplify]: Simplify (- 0) into 0
14.884 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.884 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
14.884 * [taylor]: Taking taylor expansion of lambda1 in phi2
14.884 * [backup-simplify]: Simplify lambda1 into lambda1
14.884 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2
14.884 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
14.884 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
14.884 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
14.884 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.884 * [backup-simplify]: Simplify 0.5 into 0.5
14.884 * [taylor]: Taking taylor expansion of phi2 in phi2
14.884 * [backup-simplify]: Simplify 0 into 0
14.884 * [backup-simplify]: Simplify 1 into 1
14.885 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.886 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
14.888 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2
14.888 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
14.888 * [taylor]: Taking taylor expansion of lambda2 in phi2
14.888 * [backup-simplify]: Simplify lambda2 into lambda2
14.888 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
14.888 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
14.888 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
14.889 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.889 * [backup-simplify]: Simplify 0.5 into 0.5
14.889 * [taylor]: Taking taylor expansion of phi1 in phi2
14.889 * [backup-simplify]: Simplify phi1 into phi1
14.889 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.889 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.889 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.889 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
14.889 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
14.889 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
14.889 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in phi2
14.889 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
14.889 * [taylor]: Taking taylor expansion of 2 in phi2
14.889 * [backup-simplify]: Simplify 2 into 2
14.889 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
14.889 * [taylor]: Taking taylor expansion of lambda2 in phi2
14.889 * [backup-simplify]: Simplify lambda2 into lambda2
14.889 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
14.889 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
14.889 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
14.889 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
14.889 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.889 * [backup-simplify]: Simplify 0.5 into 0.5
14.889 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
14.890 * [taylor]: Taking taylor expansion of phi2 in phi2
14.890 * [backup-simplify]: Simplify 0 into 0
14.890 * [backup-simplify]: Simplify 1 into 1
14.890 * [taylor]: Taking taylor expansion of phi1 in phi2
14.890 * [backup-simplify]: Simplify phi1 into phi1
14.890 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
14.890 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.890 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.890 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.890 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.890 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.890 * [backup-simplify]: Simplify (- 0) into 0
14.891 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.891 * [taylor]: Taking taylor expansion of lambda1 in phi2
14.891 * [backup-simplify]: Simplify lambda1 into lambda1
14.891 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi2
14.891 * [taylor]: Taking taylor expansion of 2 in phi2
14.891 * [backup-simplify]: Simplify 2 into 2
14.891 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2
14.891 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
14.891 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
14.891 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.891 * [backup-simplify]: Simplify 0.5 into 0.5
14.891 * [taylor]: Taking taylor expansion of phi2 in phi2
14.891 * [backup-simplify]: Simplify 0 into 0
14.891 * [backup-simplify]: Simplify 1 into 1
14.891 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.893 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.893 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2
14.893 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
14.893 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
14.893 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.893 * [backup-simplify]: Simplify 0.5 into 0.5
14.893 * [taylor]: Taking taylor expansion of phi2 in phi2
14.893 * [backup-simplify]: Simplify 0 into 0
14.893 * [backup-simplify]: Simplify 1 into 1
14.893 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.894 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.895 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2
14.895 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
14.895 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
14.895 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.895 * [backup-simplify]: Simplify 0.5 into 0.5
14.895 * [taylor]: Taking taylor expansion of phi1 in phi2
14.895 * [backup-simplify]: Simplify phi1 into phi1
14.895 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.895 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.895 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.895 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2
14.895 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
14.895 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
14.895 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.895 * [backup-simplify]: Simplify 0.5 into 0.5
14.895 * [taylor]: Taking taylor expansion of phi1 in phi2
14.895 * [backup-simplify]: Simplify phi1 into phi1
14.895 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.895 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.895 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.895 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
14.895 * [taylor]: Taking taylor expansion of lambda2 in phi2
14.895 * [backup-simplify]: Simplify lambda2 into lambda2
14.895 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in lambda2
14.895 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2
14.896 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2
14.896 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
14.896 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
14.896 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
14.896 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.896 * [backup-simplify]: Simplify 0.5 into 0.5
14.896 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.896 * [backup-simplify]: Simplify phi2 into phi2
14.896 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.896 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.896 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.896 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
14.896 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
14.896 * [backup-simplify]: Simplify (- 0) into 0
14.897 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
14.897 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2
14.897 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
14.897 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
14.897 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
14.897 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.897 * [backup-simplify]: Simplify 0.5 into 0.5
14.897 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.897 * [backup-simplify]: Simplify phi1 into phi1
14.897 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.897 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.897 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.897 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.897 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.897 * [backup-simplify]: Simplify (- 0) into 0
14.898 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.898 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
14.898 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.898 * [backup-simplify]: Simplify 0 into 0
14.898 * [backup-simplify]: Simplify 1 into 1
14.898 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2
14.898 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2
14.898 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
14.898 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
14.898 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
14.898 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.898 * [backup-simplify]: Simplify 0.5 into 0.5
14.898 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
14.898 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.898 * [backup-simplify]: Simplify phi2 into phi2
14.898 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.898 * [backup-simplify]: Simplify phi1 into phi1
14.898 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
14.898 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
14.898 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
14.898 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
14.898 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
14.899 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
14.899 * [backup-simplify]: Simplify (- 0) into 0
14.899 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
14.899 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
14.899 * [taylor]: Taking taylor expansion of lambda1 in lambda2
14.899 * [backup-simplify]: Simplify lambda1 into lambda1
14.899 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
14.899 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
14.899 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
14.899 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
14.899 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.899 * [backup-simplify]: Simplify 0.5 into 0.5
14.899 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.899 * [backup-simplify]: Simplify phi2 into phi2
14.899 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.899 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.900 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.900 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
14.900 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
14.900 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
14.900 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
14.900 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
14.900 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.900 * [backup-simplify]: Simplify 0 into 0
14.900 * [backup-simplify]: Simplify 1 into 1
14.900 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
14.900 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
14.900 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
14.900 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.900 * [backup-simplify]: Simplify 0.5 into 0.5
14.900 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.900 * [backup-simplify]: Simplify phi1 into phi1
14.900 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.900 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.900 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.900 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
14.900 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
14.901 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
14.901 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in lambda2
14.901 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
14.901 * [taylor]: Taking taylor expansion of 2 in lambda2
14.901 * [backup-simplify]: Simplify 2 into 2
14.901 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
14.901 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.901 * [backup-simplify]: Simplify 0 into 0
14.901 * [backup-simplify]: Simplify 1 into 1
14.901 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
14.901 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
14.901 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
14.901 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
14.901 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.901 * [backup-simplify]: Simplify 0.5 into 0.5
14.901 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
14.901 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.901 * [backup-simplify]: Simplify phi2 into phi2
14.901 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.901 * [backup-simplify]: Simplify phi1 into phi1
14.901 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
14.901 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
14.901 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
14.901 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
14.902 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
14.902 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
14.902 * [backup-simplify]: Simplify (- 0) into 0
14.902 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
14.902 * [taylor]: Taking taylor expansion of lambda1 in lambda2
14.902 * [backup-simplify]: Simplify lambda1 into lambda1
14.902 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2
14.902 * [taylor]: Taking taylor expansion of 2 in lambda2
14.902 * [backup-simplify]: Simplify 2 into 2
14.902 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2
14.902 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
14.902 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
14.902 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.902 * [backup-simplify]: Simplify 0.5 into 0.5
14.902 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.903 * [backup-simplify]: Simplify phi2 into phi2
14.903 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.903 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.903 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.903 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2
14.903 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
14.903 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
14.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.903 * [backup-simplify]: Simplify 0.5 into 0.5
14.903 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.903 * [backup-simplify]: Simplify phi2 into phi2
14.903 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.903 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.903 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.903 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2
14.903 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
14.903 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
14.903 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.904 * [backup-simplify]: Simplify 0.5 into 0.5
14.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.904 * [backup-simplify]: Simplify phi1 into phi1
14.904 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.904 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.904 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.904 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2
14.904 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
14.904 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
14.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.904 * [backup-simplify]: Simplify 0.5 into 0.5
14.904 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.904 * [backup-simplify]: Simplify phi1 into phi1
14.904 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.904 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.904 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.904 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
14.904 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.904 * [backup-simplify]: Simplify 0 into 0
14.904 * [backup-simplify]: Simplify 1 into 1
14.904 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))) in lambda2
14.904 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) in lambda2
14.904 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2
14.904 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
14.904 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
14.904 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
14.904 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.905 * [backup-simplify]: Simplify 0.5 into 0.5
14.905 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.905 * [backup-simplify]: Simplify phi2 into phi2
14.905 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.905 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.905 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.905 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
14.905 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
14.905 * [backup-simplify]: Simplify (- 0) into 0
14.905 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
14.906 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2
14.906 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
14.906 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
14.906 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
14.906 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.906 * [backup-simplify]: Simplify 0.5 into 0.5
14.906 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.906 * [backup-simplify]: Simplify phi1 into phi1
14.906 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.906 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.906 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.906 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.906 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.906 * [backup-simplify]: Simplify (- 0) into 0
14.907 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.907 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
14.907 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.907 * [backup-simplify]: Simplify 0 into 0
14.907 * [backup-simplify]: Simplify 1 into 1
14.907 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))) in lambda2
14.907 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in lambda2
14.907 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
14.907 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
14.907 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
14.907 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.907 * [backup-simplify]: Simplify 0.5 into 0.5
14.907 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
14.907 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.907 * [backup-simplify]: Simplify phi2 into phi2
14.907 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.907 * [backup-simplify]: Simplify phi1 into phi1
14.907 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
14.907 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
14.907 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
14.907 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
14.907 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
14.908 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
14.908 * [backup-simplify]: Simplify (- 0) into 0
14.908 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
14.908 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
14.908 * [taylor]: Taking taylor expansion of lambda1 in lambda2
14.908 * [backup-simplify]: Simplify lambda1 into lambda1
14.908 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
14.908 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
14.908 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
14.908 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
14.909 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.909 * [backup-simplify]: Simplify 0.5 into 0.5
14.909 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.909 * [backup-simplify]: Simplify phi2 into phi2
14.909 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.909 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.909 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.909 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
14.909 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
14.909 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
14.909 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
14.909 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
14.909 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.909 * [backup-simplify]: Simplify 0 into 0
14.909 * [backup-simplify]: Simplify 1 into 1
14.909 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
14.909 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
14.909 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
14.909 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.909 * [backup-simplify]: Simplify 0.5 into 0.5
14.909 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.909 * [backup-simplify]: Simplify phi1 into phi1
14.909 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.910 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.910 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.910 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
14.910 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
14.910 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
14.910 * [taylor]: Taking taylor expansion of (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) in lambda2
14.910 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
14.910 * [taylor]: Taking taylor expansion of 2 in lambda2
14.910 * [backup-simplify]: Simplify 2 into 2
14.910 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
14.910 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.910 * [backup-simplify]: Simplify 0 into 0
14.910 * [backup-simplify]: Simplify 1 into 1
14.910 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
14.910 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
14.910 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
14.910 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
14.910 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.910 * [backup-simplify]: Simplify 0.5 into 0.5
14.910 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
14.910 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.910 * [backup-simplify]: Simplify phi2 into phi2
14.910 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.911 * [backup-simplify]: Simplify phi1 into phi1
14.911 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
14.911 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
14.911 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
14.911 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
14.911 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
14.911 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
14.912 * [backup-simplify]: Simplify (- 0) into 0
14.912 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
14.912 * [taylor]: Taking taylor expansion of lambda1 in lambda2
14.912 * [backup-simplify]: Simplify lambda1 into lambda1
14.912 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2
14.912 * [taylor]: Taking taylor expansion of 2 in lambda2
14.912 * [backup-simplify]: Simplify 2 into 2
14.912 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2
14.912 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
14.912 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
14.912 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.912 * [backup-simplify]: Simplify 0.5 into 0.5
14.912 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.912 * [backup-simplify]: Simplify phi2 into phi2
14.912 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.912 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.912 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.912 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2
14.912 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
14.912 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
14.912 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.912 * [backup-simplify]: Simplify 0.5 into 0.5
14.913 * [taylor]: Taking taylor expansion of phi2 in lambda2
14.913 * [backup-simplify]: Simplify phi2 into phi2
14.913 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
14.913 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
14.913 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
14.913 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2
14.913 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
14.913 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
14.913 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.913 * [backup-simplify]: Simplify 0.5 into 0.5
14.913 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.913 * [backup-simplify]: Simplify phi1 into phi1
14.913 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.913 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.913 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.913 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2
14.913 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
14.913 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
14.913 * [taylor]: Taking taylor expansion of 0.5 in lambda2
14.913 * [backup-simplify]: Simplify 0.5 into 0.5
14.913 * [taylor]: Taking taylor expansion of phi1 in lambda2
14.913 * [backup-simplify]: Simplify phi1 into phi1
14.913 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.914 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.914 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.914 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
14.914 * [taylor]: Taking taylor expansion of lambda2 in lambda2
14.914 * [backup-simplify]: Simplify 0 into 0
14.914 * [backup-simplify]: Simplify 1 into 1
14.914 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
14.914 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
14.915 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
14.915 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
14.916 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
14.916 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
14.916 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
14.916 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
14.917 * [backup-simplify]: Simplify (* 2 0) into 0
14.917 * [backup-simplify]: Simplify (+ 0 0) into 0
14.918 * [backup-simplify]: Simplify (- 0) into 0
14.918 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))
14.918 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) in phi2
14.918 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
14.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
14.918 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
14.918 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.919 * [backup-simplify]: Simplify 0.5 into 0.5
14.919 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
14.919 * [taylor]: Taking taylor expansion of phi2 in phi2
14.919 * [backup-simplify]: Simplify 0 into 0
14.919 * [backup-simplify]: Simplify 1 into 1
14.919 * [taylor]: Taking taylor expansion of phi1 in phi2
14.919 * [backup-simplify]: Simplify phi1 into phi1
14.919 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
14.919 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.919 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.919 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.919 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.919 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.920 * [backup-simplify]: Simplify (- 0) into 0
14.920 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.920 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
14.920 * [taylor]: Taking taylor expansion of lambda1 in phi2
14.920 * [backup-simplify]: Simplify lambda1 into lambda1
14.920 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
14.920 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
14.920 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
14.920 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
14.920 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
14.920 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.921 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.921 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.921 * [backup-simplify]: Simplify 0.5 into 0.5
14.921 * [taylor]: Taking taylor expansion of phi1 in phi1
14.921 * [backup-simplify]: Simplify 0 into 0
14.921 * [backup-simplify]: Simplify 1 into 1
14.921 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.923 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.923 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
14.923 * [taylor]: Taking taylor expansion of lambda1 in phi1
14.923 * [backup-simplify]: Simplify lambda1 into lambda1
14.923 * [backup-simplify]: Simplify (* 1 1) into 1
14.923 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
14.923 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
14.923 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
14.923 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.923 * [backup-simplify]: Simplify 0 into 0
14.923 * [backup-simplify]: Simplify 1 into 1
14.924 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
14.924 * [backup-simplify]: Simplify (+ 0) into 0
14.924 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
14.925 * [backup-simplify]: Simplify (+ 0 0) into 0
14.925 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
14.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.927 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
14.927 * [backup-simplify]: Simplify (- 0) into 0
14.927 * [backup-simplify]: Simplify (+ 0 0) into 0
14.928 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
14.928 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 (pow lambda1 2))) into 0
14.928 * [backup-simplify]: Simplify (+ 0 0) into 0
14.929 * [backup-simplify]: Simplify (+ 0 0) into 0
14.929 * [backup-simplify]: Simplify (+ 0) into 0
14.930 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
14.930 * [backup-simplify]: Simplify (+ 0 0) into 0
14.930 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
14.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
14.932 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
14.932 * [backup-simplify]: Simplify (- 0) into 0
14.932 * [backup-simplify]: Simplify (+ 0 0) into 0
14.933 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
14.933 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
14.934 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
14.934 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
14.935 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) 0) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
14.935 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
14.936 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
14.936 * [taylor]: Taking taylor expansion of (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
14.936 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
14.936 * [taylor]: Taking taylor expansion of 2 in phi2
14.936 * [backup-simplify]: Simplify 2 into 2
14.936 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
14.936 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
14.936 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
14.936 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
14.936 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.936 * [backup-simplify]: Simplify 0.5 into 0.5
14.936 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
14.936 * [taylor]: Taking taylor expansion of phi2 in phi2
14.936 * [backup-simplify]: Simplify 0 into 0
14.936 * [backup-simplify]: Simplify 1 into 1
14.936 * [taylor]: Taking taylor expansion of phi1 in phi2
14.936 * [backup-simplify]: Simplify phi1 into phi1
14.936 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
14.936 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.936 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.936 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.936 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.937 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.937 * [backup-simplify]: Simplify (- 0) into 0
14.937 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.937 * [taylor]: Taking taylor expansion of lambda1 in phi2
14.937 * [backup-simplify]: Simplify lambda1 into lambda1
14.937 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
14.937 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
14.938 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))
14.938 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)))
14.938 * [taylor]: Taking taylor expansion of (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) in phi1
14.938 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) in phi1
14.938 * [taylor]: Taking taylor expansion of 2 in phi1
14.938 * [backup-simplify]: Simplify 2 into 2
14.938 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) lambda1) in phi1
14.938 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
14.938 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.938 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.938 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.938 * [backup-simplify]: Simplify 0.5 into 0.5
14.938 * [taylor]: Taking taylor expansion of phi1 in phi1
14.938 * [backup-simplify]: Simplify 0 into 0
14.938 * [backup-simplify]: Simplify 1 into 1
14.939 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.941 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.941 * [taylor]: Taking taylor expansion of lambda1 in phi1
14.941 * [backup-simplify]: Simplify lambda1 into lambda1
14.941 * [backup-simplify]: Simplify (* 1 1) into 1
14.941 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
14.941 * [backup-simplify]: Simplify (* 2 lambda1) into (* 2 lambda1)
14.941 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1))
14.941 * [taylor]: Taking taylor expansion of (- (* 2 lambda1)) in lambda1
14.941 * [taylor]: Taking taylor expansion of (* 2 lambda1) in lambda1
14.941 * [taylor]: Taking taylor expansion of 2 in lambda1
14.941 * [backup-simplify]: Simplify 2 into 2
14.941 * [taylor]: Taking taylor expansion of lambda1 in lambda1
14.941 * [backup-simplify]: Simplify 0 into 0
14.941 * [backup-simplify]: Simplify 1 into 1
14.942 * [backup-simplify]: Simplify (* 2 0) into 0
14.942 * [backup-simplify]: Simplify (- 0) into 0
14.942 * [backup-simplify]: Simplify 0 into 0
14.943 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
14.943 * [backup-simplify]: Simplify (+ 0) into 0
14.943 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
14.944 * [backup-simplify]: Simplify (+ 1 0) into 1
14.945 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
14.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
14.948 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
14.948 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
14.948 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
14.948 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
14.949 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) (pow lambda1 2))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
14.949 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1
14.949 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1
14.949 * [taylor]: Taking taylor expansion of 1.0 in phi1
14.949 * [backup-simplify]: Simplify 1.0 into 1.0
14.949 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1
14.949 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
14.949 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.949 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.949 * [backup-simplify]: Simplify 0.5 into 0.5
14.949 * [taylor]: Taking taylor expansion of phi1 in phi1
14.949 * [backup-simplify]: Simplify 0 into 0
14.949 * [backup-simplify]: Simplify 1 into 1
14.950 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.952 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.952 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1
14.952 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
14.952 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
14.952 * [taylor]: Taking taylor expansion of 0.5 in phi1
14.952 * [backup-simplify]: Simplify 0.5 into 0.5
14.952 * [taylor]: Taking taylor expansion of phi1 in phi1
14.952 * [backup-simplify]: Simplify 0 into 0
14.952 * [backup-simplify]: Simplify 1 into 1
14.952 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.954 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.954 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
14.954 * [taylor]: Taking taylor expansion of lambda1 in phi1
14.954 * [backup-simplify]: Simplify lambda1 into lambda1
14.954 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
14.954 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0
14.955 * [backup-simplify]: Simplify (* 1 0) into 0
14.955 * [backup-simplify]: Simplify (* 1.0 0) into 0
14.956 * [backup-simplify]: Simplify (- 0) into 0
14.956 * [taylor]: Taking taylor expansion of 0 in lambda1
14.956 * [backup-simplify]: Simplify 0 into 0
14.956 * [backup-simplify]: Simplify 0 into 0
14.956 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
14.956 * [backup-simplify]: Simplify (+ 0) into 0
14.957 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
14.958 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
14.958 * [taylor]: Taking taylor expansion of 0 in lambda1
14.958 * [backup-simplify]: Simplify 0 into 0
14.958 * [backup-simplify]: Simplify 0 into 0
14.958 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
14.958 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
14.958 * [backup-simplify]: Simplify (* 1 1) into 1
14.959 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) 1) into (pow (cos (* 0.5 phi1)) 2)
14.959 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2))
14.959 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
14.960 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.961 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
14.962 * [backup-simplify]: Simplify (+ 0 0) into 0
14.962 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
14.963 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.964 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
14.964 * [backup-simplify]: Simplify (- 0) into 0
14.964 * [backup-simplify]: Simplify (+ 0 0) into 0
14.965 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
14.966 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
14.966 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
14.966 * [backup-simplify]: Simplify (* 1 1) into 1
14.966 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
14.967 * [backup-simplify]: Simplify (* 1 (pow (sin (* 0.5 phi1)) 2)) into (pow (sin (* 0.5 phi1)) 2)
14.967 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))
14.967 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))
14.968 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
14.969 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
14.970 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
14.970 * [backup-simplify]: Simplify (+ 0 0) into 0
14.971 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
14.972 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
14.973 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
14.973 * [backup-simplify]: Simplify (- 0) into 0
14.973 * [backup-simplify]: Simplify (+ 0 0) into 0
14.974 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
14.975 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 lambda1))) into 0
14.976 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into 0
14.977 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0))) into 0
14.977 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
14.977 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
14.978 * [backup-simplify]: Simplify (- 0) into 0
14.978 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
14.978 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
14.978 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
14.978 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
14.978 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.978 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.978 * [backup-simplify]: Simplify (- 0) into 0
14.979 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.979 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
14.979 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
14.979 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
14.979 * [backup-simplify]: Simplify (* 1 1) into 1
14.979 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
14.979 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))
14.980 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))
14.980 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
14.980 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))
14.981 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))
14.981 * [backup-simplify]: Simplify (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) into (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))
14.983 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))
14.983 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) in phi2
14.983 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) in phi2
14.983 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi2
14.983 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
14.983 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
14.983 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
14.983 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.983 * [backup-simplify]: Simplify 0.5 into 0.5
14.983 * [taylor]: Taking taylor expansion of phi2 in phi2
14.983 * [backup-simplify]: Simplify 0 into 0
14.983 * [backup-simplify]: Simplify 1 into 1
14.984 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.985 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.985 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
14.985 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
14.985 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
14.985 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.985 * [backup-simplify]: Simplify 0.5 into 0.5
14.985 * [taylor]: Taking taylor expansion of phi1 in phi2
14.986 * [backup-simplify]: Simplify phi1 into phi1
14.986 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.986 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.986 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.986 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.986 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.986 * [backup-simplify]: Simplify (- 0) into 0
14.986 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.986 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi2
14.987 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
14.987 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
14.987 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
14.987 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.987 * [backup-simplify]: Simplify 0.5 into 0.5
14.987 * [taylor]: Taking taylor expansion of phi2 in phi2
14.987 * [backup-simplify]: Simplify 0 into 0
14.987 * [backup-simplify]: Simplify 1 into 1
14.987 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.989 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.991 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
14.991 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
14.991 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
14.991 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
14.991 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.991 * [backup-simplify]: Simplify 0.5 into 0.5
14.991 * [taylor]: Taking taylor expansion of phi1 in phi2
14.991 * [backup-simplify]: Simplify phi1 into phi1
14.991 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.991 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.991 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.991 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
14.992 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
14.992 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
14.992 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) in phi2
14.992 * [taylor]: Taking taylor expansion of 2 in phi2
14.992 * [backup-simplify]: Simplify 2 into 2
14.992 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) in phi2
14.992 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
14.992 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
14.992 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.992 * [backup-simplify]: Simplify 0.5 into 0.5
14.992 * [taylor]: Taking taylor expansion of phi2 in phi2
14.992 * [backup-simplify]: Simplify 0 into 0
14.992 * [backup-simplify]: Simplify 1 into 1
14.992 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.994 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.994 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) in phi2
14.994 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
14.994 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
14.994 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.994 * [backup-simplify]: Simplify 0.5 into 0.5
14.994 * [taylor]: Taking taylor expansion of phi2 in phi2
14.994 * [backup-simplify]: Simplify 0 into 0
14.994 * [backup-simplify]: Simplify 1 into 1
14.994 * [backup-simplify]: Simplify (* 0.5 0) into 0
14.996 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
14.996 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) in phi2
14.996 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
14.996 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
14.996 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.996 * [backup-simplify]: Simplify 0.5 into 0.5
14.996 * [taylor]: Taking taylor expansion of phi1 in phi2
14.996 * [backup-simplify]: Simplify phi1 into phi1
14.996 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.996 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.996 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.996 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
14.997 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
14.997 * [taylor]: Taking taylor expansion of 0.5 in phi2
14.997 * [backup-simplify]: Simplify 0.5 into 0.5
14.997 * [taylor]: Taking taylor expansion of phi1 in phi2
14.997 * [backup-simplify]: Simplify phi1 into phi1
14.997 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
14.997 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
14.997 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
14.997 * [backup-simplify]: Simplify (* 1 1) into 1
14.997 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
14.998 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 2)
14.998 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2)
14.998 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
14.998 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
14.999 * [backup-simplify]: Simplify (- 0) into 0
14.999 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
14.999 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
14.999 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
14.999 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
14.999 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))
14.999 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into 0
15.000 * [backup-simplify]: Simplify (* 1 0) into 0
15.000 * [backup-simplify]: Simplify (* 2 0) into 0
15.001 * [backup-simplify]: Simplify (- 0) into 0
15.001 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2)
15.001 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
15.001 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
15.001 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
15.001 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.001 * [backup-simplify]: Simplify 0.5 into 0.5
15.001 * [taylor]: Taking taylor expansion of phi1 in phi1
15.001 * [backup-simplify]: Simplify 0 into 0
15.001 * [backup-simplify]: Simplify 1 into 1
15.001 * [backup-simplify]: Simplify (* 0.5 0) into 0
15.003 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
15.003 * [backup-simplify]: Simplify (* 1 1) into 1
15.003 * [taylor]: Taking taylor expansion of 1 in lambda1
15.003 * [backup-simplify]: Simplify 1 into 1
15.003 * [backup-simplify]: Simplify 1 into 1
15.004 * [backup-simplify]: Simplify (+ 0) into 0
15.004 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
15.005 * [backup-simplify]: Simplify (+ 1 0) into 1
15.005 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
15.007 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
15.008 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
15.008 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
15.008 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
15.009 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
15.009 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
15.010 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
15.010 * [backup-simplify]: Simplify (- (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) into (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))
15.010 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))) in phi1
15.010 * [taylor]: Taking taylor expansion of 2.0 in phi1
15.010 * [backup-simplify]: Simplify 2.0 into 2.0
15.010 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) in phi1
15.010 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
15.010 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
15.010 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.010 * [backup-simplify]: Simplify 0.5 into 0.5
15.010 * [taylor]: Taking taylor expansion of phi1 in phi1
15.010 * [backup-simplify]: Simplify 0 into 0
15.010 * [backup-simplify]: Simplify 1 into 1
15.011 * [backup-simplify]: Simplify (* 0.5 0) into 0
15.012 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
15.012 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda1) in phi1
15.012 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
15.012 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
15.012 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.012 * [backup-simplify]: Simplify 0.5 into 0.5
15.012 * [taylor]: Taking taylor expansion of phi1 in phi1
15.012 * [backup-simplify]: Simplify 0 into 0
15.012 * [backup-simplify]: Simplify 1 into 1
15.013 * [backup-simplify]: Simplify (* 0.5 0) into 0
15.015 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
15.015 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.015 * [backup-simplify]: Simplify lambda1 into lambda1
15.015 * [backup-simplify]: Simplify (* 0 lambda1) into 0
15.015 * [backup-simplify]: Simplify (* 1 0) into 0
15.016 * [backup-simplify]: Simplify (* 2.0 0) into 0
15.016 * [taylor]: Taking taylor expansion of 0 in lambda1
15.016 * [backup-simplify]: Simplify 0 into 0
15.016 * [backup-simplify]: Simplify 0 into 0
15.016 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
15.019 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
15.027 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
15.028 * [backup-simplify]: Simplify (+ 0 0) into 0
15.029 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
15.029 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.030 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
15.031 * [backup-simplify]: Simplify (- 0) into 0
15.031 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
15.032 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2)))
15.033 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) 0) (* (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) (pow lambda1 2)))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
15.034 * [taylor]: Taking taylor expansion of (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1
15.034 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
15.034 * [taylor]: Taking taylor expansion of 0.25 in phi1
15.034 * [backup-simplify]: Simplify 0.25 into 0.25
15.034 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
15.034 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
15.034 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
15.034 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
15.034 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.034 * [backup-simplify]: Simplify 0.5 into 0.5
15.034 * [taylor]: Taking taylor expansion of phi1 in phi1
15.034 * [backup-simplify]: Simplify 0 into 0
15.034 * [backup-simplify]: Simplify 1 into 1
15.035 * [backup-simplify]: Simplify (* 0.5 0) into 0
15.036 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
15.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
15.039 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
15.039 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.039 * [backup-simplify]: Simplify lambda1 into lambda1
15.039 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
15.039 * [taylor]: Taking taylor expansion of 0.25 in phi1
15.039 * [backup-simplify]: Simplify 0.25 into 0.25
15.039 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
15.039 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
15.039 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
15.039 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
15.040 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.040 * [backup-simplify]: Simplify 0.5 into 0.5
15.040 * [taylor]: Taking taylor expansion of phi1 in phi1
15.040 * [backup-simplify]: Simplify 0 into 0
15.040 * [backup-simplify]: Simplify 1 into 1
15.040 * [backup-simplify]: Simplify (* 0.5 0) into 0
15.042 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
15.042 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
15.042 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.042 * [backup-simplify]: Simplify lambda1 into lambda1
15.042 * [backup-simplify]: Simplify (* 1 1) into 1
15.042 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.043 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
15.043 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2))
15.043 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2)))
15.043 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2)))
15.043 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda1 2))) in lambda1
15.043 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
15.043 * [taylor]: Taking taylor expansion of 0.25 in lambda1
15.043 * [backup-simplify]: Simplify 0.25 into 0.25
15.043 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
15.043 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.043 * [backup-simplify]: Simplify 0 into 0
15.043 * [backup-simplify]: Simplify 1 into 1
15.044 * [backup-simplify]: Simplify (+ 0) into 0
15.045 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
15.045 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
15.045 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 lambda1)) into 0
15.046 * [backup-simplify]: Simplify (- 0) into 0
15.046 * [taylor]: Taking taylor expansion of 0 in lambda1
15.046 * [backup-simplify]: Simplify 0 into 0
15.046 * [backup-simplify]: Simplify 0 into 0
15.046 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
15.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
15.049 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2))
15.049 * [backup-simplify]: Simplify (+ 0) into 0
15.050 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
15.051 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
15.051 * [backup-simplify]: Simplify (- (* 0.5 (pow lambda1 2))) into (- (* 0.5 (pow lambda1 2)))
15.051 * [taylor]: Taking taylor expansion of (- (* 0.5 (pow lambda1 2))) in lambda1
15.051 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda1 2)) in lambda1
15.051 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.051 * [backup-simplify]: Simplify 0.5 into 0.5
15.051 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
15.051 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.051 * [backup-simplify]: Simplify 0 into 0
15.051 * [backup-simplify]: Simplify 1 into 1
15.052 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
15.054 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
15.058 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25)
15.060 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2)))
15.060 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda1 2))) in lambda1
15.060 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
15.060 * [taylor]: Taking taylor expansion of 0.25 in lambda1
15.060 * [backup-simplify]: Simplify 0.25 into 0.25
15.060 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
15.060 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.060 * [backup-simplify]: Simplify 0 into 0
15.060 * [backup-simplify]: Simplify 1 into 1
15.061 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2
15.061 * [backup-simplify]: Simplify (- 2) into -2
15.061 * [backup-simplify]: Simplify -2 into -2
15.061 * [backup-simplify]: Simplify 0 into 0
15.061 * [backup-simplify]: Simplify 0 into 0
15.062 * [backup-simplify]: Simplify (* 1 1) into 1
15.062 * [backup-simplify]: Simplify 1 into 1
15.063 * [backup-simplify]: Simplify (+ (* 1 (pow (* lambda1 (* 1 (* 1 1))) 2)) (+ (* -2 (* lambda1 (* 1 (* 1 lambda2)))) (* 1 (pow (* 1 (* 1 (* 1 lambda2))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
15.066 * [backup-simplify]: Simplify (- (+ (* (pow (/ 1 lambda2) 2) (pow (- (* (cos (* 0.5 (/ 1 phi2))) (cos (* 0.5 (/ 1 phi1)))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (pow (/ 1 lambda1) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))))
15.066 * [approximate]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in (lambda2 phi2 phi1 lambda1) around 0
15.066 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda1
15.066 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1
15.067 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
15.067 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
15.067 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
15.067 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
15.067 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.067 * [backup-simplify]: Simplify 0.5 into 0.5
15.067 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
15.067 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
15.067 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.067 * [backup-simplify]: Simplify phi1 into phi1
15.067 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.067 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
15.067 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.067 * [backup-simplify]: Simplify phi2 into phi2
15.067 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.067 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.067 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.068 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.068 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.068 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.068 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.069 * [backup-simplify]: Simplify (- 0) into 0
15.069 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.069 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
15.069 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.069 * [backup-simplify]: Simplify 0 into 0
15.069 * [backup-simplify]: Simplify 1 into 1
15.069 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.070 * [backup-simplify]: Simplify (* 1 1) into 1
15.070 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.070 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1
15.070 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1
15.070 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
15.070 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
15.070 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
15.070 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
15.070 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.071 * [backup-simplify]: Simplify 0.5 into 0.5
15.071 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.071 * [backup-simplify]: Simplify phi1 into phi1
15.071 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.071 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.071 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.071 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.071 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.071 * [backup-simplify]: Simplify (- 0) into 0
15.072 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.072 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
15.072 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
15.072 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
15.072 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.072 * [backup-simplify]: Simplify 0.5 into 0.5
15.072 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.072 * [backup-simplify]: Simplify phi2 into phi2
15.072 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.072 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.072 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.072 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.072 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.073 * [backup-simplify]: Simplify (- 0) into 0
15.073 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.073 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
15.073 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.073 * [backup-simplify]: Simplify lambda2 into lambda2
15.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.073 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.074 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.074 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.074 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
15.074 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1
15.074 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
15.074 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
15.074 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
15.074 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
15.074 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.074 * [backup-simplify]: Simplify 0.5 into 0.5
15.074 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.074 * [backup-simplify]: Simplify phi1 into phi1
15.074 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.075 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.075 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.075 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.075 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
15.075 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
15.075 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
15.075 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.075 * [backup-simplify]: Simplify 0.5 into 0.5
15.075 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.075 * [backup-simplify]: Simplify phi2 into phi2
15.075 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.075 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.075 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.076 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.076 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.076 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
15.076 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.076 * [backup-simplify]: Simplify lambda2 into lambda2
15.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.076 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.076 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.077 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.077 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
15.077 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda1
15.077 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
15.077 * [taylor]: Taking taylor expansion of 2 in lambda1
15.077 * [backup-simplify]: Simplify 2 into 2
15.077 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
15.077 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
15.077 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
15.077 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
15.077 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.077 * [backup-simplify]: Simplify 0.5 into 0.5
15.077 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
15.077 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
15.077 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.077 * [backup-simplify]: Simplify phi1 into phi1
15.077 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.077 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
15.077 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.077 * [backup-simplify]: Simplify phi2 into phi2
15.077 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.077 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.077 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.077 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.078 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.078 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.078 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.078 * [backup-simplify]: Simplify (- 0) into 0
15.078 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.078 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
15.078 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.078 * [backup-simplify]: Simplify lambda2 into lambda2
15.078 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.078 * [backup-simplify]: Simplify 0 into 0
15.078 * [backup-simplify]: Simplify 1 into 1
15.079 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.079 * [backup-simplify]: Simplify (* lambda2 0) into 0
15.079 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
15.079 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
15.079 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda1
15.079 * [taylor]: Taking taylor expansion of 2 in lambda1
15.079 * [backup-simplify]: Simplify 2 into 2
15.079 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda1
15.079 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
15.079 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
15.079 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
15.079 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.079 * [backup-simplify]: Simplify 0.5 into 0.5
15.079 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.079 * [backup-simplify]: Simplify phi1 into phi1
15.080 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.080 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
15.080 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
15.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
15.080 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.080 * [backup-simplify]: Simplify 0.5 into 0.5
15.080 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.080 * [backup-simplify]: Simplify phi1 into phi1
15.080 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.080 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
15.080 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
15.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
15.080 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.080 * [backup-simplify]: Simplify 0.5 into 0.5
15.080 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.080 * [backup-simplify]: Simplify phi2 into phi2
15.080 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.080 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
15.080 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
15.080 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.080 * [backup-simplify]: Simplify 0.5 into 0.5
15.080 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.080 * [backup-simplify]: Simplify phi2 into phi2
15.080 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.080 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.080 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.080 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
15.080 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.080 * [backup-simplify]: Simplify lambda2 into lambda2
15.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.081 * [backup-simplify]: Simplify (- 0) into 0
15.081 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.081 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.081 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.081 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.081 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.082 * [backup-simplify]: Simplify (- 0) into 0
15.082 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
15.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
15.082 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.082 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.083 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
15.083 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi1
15.083 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1
15.083 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
15.083 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
15.083 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
15.083 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
15.083 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.083 * [backup-simplify]: Simplify 0.5 into 0.5
15.083 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
15.083 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
15.083 * [taylor]: Taking taylor expansion of phi1 in phi1
15.083 * [backup-simplify]: Simplify 0 into 0
15.083 * [backup-simplify]: Simplify 1 into 1
15.083 * [backup-simplify]: Simplify (/ 1 1) into 1
15.083 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
15.083 * [taylor]: Taking taylor expansion of phi2 in phi1
15.083 * [backup-simplify]: Simplify phi2 into phi2
15.083 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.084 * [backup-simplify]: Simplify (+ 1 0) into 1
15.084 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
15.084 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.084 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
15.084 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.084 * [backup-simplify]: Simplify lambda1 into lambda1
15.084 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.085 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.085 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.085 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1
15.085 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1
15.085 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
15.085 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
15.085 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
15.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.085 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.085 * [backup-simplify]: Simplify 0.5 into 0.5
15.085 * [taylor]: Taking taylor expansion of phi1 in phi1
15.085 * [backup-simplify]: Simplify 0 into 0
15.085 * [backup-simplify]: Simplify 1 into 1
15.085 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.085 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.085 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
15.085 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
15.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.086 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.086 * [backup-simplify]: Simplify 0.5 into 0.5
15.086 * [taylor]: Taking taylor expansion of phi2 in phi1
15.086 * [backup-simplify]: Simplify phi2 into phi2
15.086 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.086 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.086 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.086 * [backup-simplify]: Simplify (- 0) into 0
15.086 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.086 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
15.086 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.086 * [backup-simplify]: Simplify lambda2 into lambda2
15.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.086 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.087 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.087 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.087 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
15.087 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1
15.087 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
15.087 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
15.087 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
15.087 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.087 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.087 * [backup-simplify]: Simplify 0.5 into 0.5
15.087 * [taylor]: Taking taylor expansion of phi1 in phi1
15.087 * [backup-simplify]: Simplify 0 into 0
15.087 * [backup-simplify]: Simplify 1 into 1
15.088 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.088 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
15.088 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
15.088 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.088 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.088 * [backup-simplify]: Simplify 0.5 into 0.5
15.088 * [taylor]: Taking taylor expansion of phi2 in phi1
15.088 * [backup-simplify]: Simplify phi2 into phi2
15.088 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.088 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.088 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.088 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.088 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.088 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.088 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
15.088 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.088 * [backup-simplify]: Simplify lambda2 into lambda2
15.088 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.089 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.089 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.089 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.089 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
15.089 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi1
15.089 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
15.089 * [taylor]: Taking taylor expansion of 2 in phi1
15.089 * [backup-simplify]: Simplify 2 into 2
15.089 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
15.089 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
15.089 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
15.089 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
15.089 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.089 * [backup-simplify]: Simplify 0.5 into 0.5
15.089 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
15.089 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
15.089 * [taylor]: Taking taylor expansion of phi1 in phi1
15.089 * [backup-simplify]: Simplify 0 into 0
15.089 * [backup-simplify]: Simplify 1 into 1
15.090 * [backup-simplify]: Simplify (/ 1 1) into 1
15.090 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
15.090 * [taylor]: Taking taylor expansion of phi2 in phi1
15.090 * [backup-simplify]: Simplify phi2 into phi2
15.090 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.090 * [backup-simplify]: Simplify (+ 1 0) into 1
15.090 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
15.090 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.090 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
15.090 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.090 * [backup-simplify]: Simplify lambda2 into lambda2
15.090 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.091 * [backup-simplify]: Simplify lambda1 into lambda1
15.091 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.091 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
15.091 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
15.091 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1
15.091 * [taylor]: Taking taylor expansion of 2 in phi1
15.091 * [backup-simplify]: Simplify 2 into 2
15.091 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1
15.091 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
15.091 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
15.091 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.091 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.091 * [backup-simplify]: Simplify 0.5 into 0.5
15.091 * [taylor]: Taking taylor expansion of phi1 in phi1
15.091 * [backup-simplify]: Simplify 0 into 0
15.091 * [backup-simplify]: Simplify 1 into 1
15.092 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.092 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.092 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
15.092 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
15.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.092 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.092 * [backup-simplify]: Simplify 0.5 into 0.5
15.092 * [taylor]: Taking taylor expansion of phi1 in phi1
15.092 * [backup-simplify]: Simplify 0 into 0
15.092 * [backup-simplify]: Simplify 1 into 1
15.092 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.092 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
15.092 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
15.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.092 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.092 * [backup-simplify]: Simplify 0.5 into 0.5
15.092 * [taylor]: Taking taylor expansion of phi2 in phi1
15.092 * [backup-simplify]: Simplify phi2 into phi2
15.092 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.092 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.092 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.092 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
15.092 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.092 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.092 * [backup-simplify]: Simplify 0.5 into 0.5
15.092 * [taylor]: Taking taylor expansion of phi2 in phi1
15.092 * [backup-simplify]: Simplify phi2 into phi2
15.093 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.093 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.093 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.093 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
15.093 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.093 * [backup-simplify]: Simplify lambda2 into lambda2
15.093 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.093 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.093 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.093 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.093 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.093 * [backup-simplify]: Simplify (- 0) into 0
15.093 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.094 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
15.094 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
15.094 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.094 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.094 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
15.094 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in phi2
15.094 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2
15.094 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
15.094 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
15.094 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
15.094 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
15.094 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.094 * [backup-simplify]: Simplify 0.5 into 0.5
15.094 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
15.094 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
15.094 * [taylor]: Taking taylor expansion of phi1 in phi2
15.094 * [backup-simplify]: Simplify phi1 into phi1
15.095 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.095 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
15.095 * [taylor]: Taking taylor expansion of phi2 in phi2
15.095 * [backup-simplify]: Simplify 0 into 0
15.095 * [backup-simplify]: Simplify 1 into 1
15.095 * [backup-simplify]: Simplify (/ 1 1) into 1
15.095 * [backup-simplify]: Simplify (+ 0 1) into 1
15.095 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
15.096 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.096 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
15.096 * [taylor]: Taking taylor expansion of lambda1 in phi2
15.096 * [backup-simplify]: Simplify lambda1 into lambda1
15.096 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.096 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.096 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.096 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2
15.096 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2
15.096 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
15.096 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
15.096 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
15.096 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
15.096 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.096 * [backup-simplify]: Simplify 0.5 into 0.5
15.096 * [taylor]: Taking taylor expansion of phi1 in phi2
15.097 * [backup-simplify]: Simplify phi1 into phi1
15.097 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.097 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.097 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.097 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.097 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.097 * [backup-simplify]: Simplify (- 0) into 0
15.097 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.097 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
15.097 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
15.097 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
15.097 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.097 * [backup-simplify]: Simplify 0.5 into 0.5
15.097 * [taylor]: Taking taylor expansion of phi2 in phi2
15.097 * [backup-simplify]: Simplify 0 into 0
15.097 * [backup-simplify]: Simplify 1 into 1
15.098 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.098 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.098 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
15.098 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.098 * [backup-simplify]: Simplify lambda2 into lambda2
15.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.098 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.098 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.098 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.098 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
15.099 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2
15.099 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
15.099 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
15.099 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
15.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
15.099 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.099 * [backup-simplify]: Simplify 0.5 into 0.5
15.099 * [taylor]: Taking taylor expansion of phi1 in phi2
15.099 * [backup-simplify]: Simplify phi1 into phi1
15.099 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.099 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.099 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.099 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.099 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.099 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.099 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
15.099 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
15.099 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
15.099 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.099 * [backup-simplify]: Simplify 0.5 into 0.5
15.099 * [taylor]: Taking taylor expansion of phi2 in phi2
15.099 * [backup-simplify]: Simplify 0 into 0
15.099 * [backup-simplify]: Simplify 1 into 1
15.099 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.100 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.100 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
15.100 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.100 * [backup-simplify]: Simplify lambda2 into lambda2
15.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.100 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.100 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.100 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.100 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
15.100 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in phi2
15.100 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
15.101 * [taylor]: Taking taylor expansion of 2 in phi2
15.101 * [backup-simplify]: Simplify 2 into 2
15.101 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
15.101 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
15.101 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
15.101 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
15.101 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.101 * [backup-simplify]: Simplify 0.5 into 0.5
15.101 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
15.101 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
15.101 * [taylor]: Taking taylor expansion of phi1 in phi2
15.101 * [backup-simplify]: Simplify phi1 into phi1
15.101 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.101 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
15.101 * [taylor]: Taking taylor expansion of phi2 in phi2
15.101 * [backup-simplify]: Simplify 0 into 0
15.101 * [backup-simplify]: Simplify 1 into 1
15.101 * [backup-simplify]: Simplify (/ 1 1) into 1
15.101 * [backup-simplify]: Simplify (+ 0 1) into 1
15.102 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
15.102 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.102 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
15.102 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.102 * [backup-simplify]: Simplify lambda2 into lambda2
15.102 * [taylor]: Taking taylor expansion of lambda1 in phi2
15.102 * [backup-simplify]: Simplify lambda1 into lambda1
15.102 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.102 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
15.102 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
15.102 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2
15.103 * [taylor]: Taking taylor expansion of 2 in phi2
15.103 * [backup-simplify]: Simplify 2 into 2
15.103 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2
15.103 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
15.103 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
15.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
15.103 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.103 * [backup-simplify]: Simplify 0.5 into 0.5
15.103 * [taylor]: Taking taylor expansion of phi1 in phi2
15.103 * [backup-simplify]: Simplify phi1 into phi1
15.103 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.103 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
15.103 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
15.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
15.103 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.103 * [backup-simplify]: Simplify 0.5 into 0.5
15.103 * [taylor]: Taking taylor expansion of phi1 in phi2
15.103 * [backup-simplify]: Simplify phi1 into phi1
15.103 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.103 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.103 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.103 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
15.103 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
15.103 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
15.103 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.103 * [backup-simplify]: Simplify 0.5 into 0.5
15.103 * [taylor]: Taking taylor expansion of phi2 in phi2
15.103 * [backup-simplify]: Simplify 0 into 0
15.104 * [backup-simplify]: Simplify 1 into 1
15.104 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.104 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.104 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
15.104 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
15.104 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.104 * [backup-simplify]: Simplify 0.5 into 0.5
15.104 * [taylor]: Taking taylor expansion of phi2 in phi2
15.104 * [backup-simplify]: Simplify 0 into 0
15.104 * [backup-simplify]: Simplify 1 into 1
15.104 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.105 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.105 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
15.105 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.105 * [backup-simplify]: Simplify lambda2 into lambda2
15.105 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.105 * [backup-simplify]: Simplify (- 0) into 0
15.105 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.105 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.106 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
15.106 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
15.106 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.107 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.107 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
15.107 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2
15.107 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2
15.107 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
15.107 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
15.107 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
15.107 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
15.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.108 * [backup-simplify]: Simplify 0.5 into 0.5
15.108 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
15.108 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
15.108 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.108 * [backup-simplify]: Simplify phi1 into phi1
15.108 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.108 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
15.108 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.108 * [backup-simplify]: Simplify phi2 into phi2
15.108 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.108 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.108 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.108 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.109 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.109 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.109 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.109 * [backup-simplify]: Simplify (- 0) into 0
15.110 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.110 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
15.110 * [taylor]: Taking taylor expansion of lambda1 in lambda2
15.110 * [backup-simplify]: Simplify lambda1 into lambda1
15.110 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.110 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.111 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.111 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2
15.111 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
15.111 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
15.111 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.111 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.111 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.111 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.111 * [backup-simplify]: Simplify 0.5 into 0.5
15.111 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.111 * [backup-simplify]: Simplify phi1 into phi1
15.111 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.111 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.111 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.111 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.112 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.112 * [backup-simplify]: Simplify (- 0) into 0
15.112 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.112 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.112 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.112 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.112 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.112 * [backup-simplify]: Simplify 0.5 into 0.5
15.112 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.112 * [backup-simplify]: Simplify phi2 into phi2
15.112 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.112 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.113 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.113 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.113 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.113 * [backup-simplify]: Simplify (- 0) into 0
15.113 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.113 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.113 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.113 * [backup-simplify]: Simplify 0 into 0
15.113 * [backup-simplify]: Simplify 1 into 1
15.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.114 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.114 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.115 * [backup-simplify]: Simplify (* 1 1) into 1
15.115 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.115 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
15.115 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
15.115 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.115 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.115 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.115 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.115 * [backup-simplify]: Simplify 0.5 into 0.5
15.115 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.115 * [backup-simplify]: Simplify phi1 into phi1
15.115 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.115 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.116 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.116 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.116 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.116 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.116 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.116 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.116 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.116 * [backup-simplify]: Simplify 0.5 into 0.5
15.116 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.116 * [backup-simplify]: Simplify phi2 into phi2
15.116 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.116 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.116 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.117 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.117 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.117 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.117 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.117 * [backup-simplify]: Simplify 0 into 0
15.117 * [backup-simplify]: Simplify 1 into 1
15.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.117 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.118 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.118 * [backup-simplify]: Simplify (* 1 1) into 1
15.119 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.119 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2
15.119 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
15.119 * [taylor]: Taking taylor expansion of 2 in lambda2
15.119 * [backup-simplify]: Simplify 2 into 2
15.119 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
15.119 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
15.119 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
15.119 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
15.119 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.119 * [backup-simplify]: Simplify 0.5 into 0.5
15.119 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
15.119 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
15.119 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.119 * [backup-simplify]: Simplify phi1 into phi1
15.119 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.119 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
15.119 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.119 * [backup-simplify]: Simplify phi2 into phi2
15.119 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.119 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.120 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.120 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.120 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.120 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.120 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.121 * [backup-simplify]: Simplify (- 0) into 0
15.121 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.121 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
15.121 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.121 * [backup-simplify]: Simplify 0 into 0
15.121 * [backup-simplify]: Simplify 1 into 1
15.121 * [taylor]: Taking taylor expansion of lambda1 in lambda2
15.121 * [backup-simplify]: Simplify lambda1 into lambda1
15.122 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.122 * [backup-simplify]: Simplify (* 0 lambda1) into 0
15.122 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
15.122 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
15.122 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2
15.123 * [taylor]: Taking taylor expansion of 2 in lambda2
15.123 * [backup-simplify]: Simplify 2 into 2
15.123 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2
15.123 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
15.123 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.123 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.123 * [backup-simplify]: Simplify 0.5 into 0.5
15.123 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.123 * [backup-simplify]: Simplify phi1 into phi1
15.123 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.123 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.123 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
15.123 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.123 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.123 * [backup-simplify]: Simplify 0.5 into 0.5
15.123 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.123 * [backup-simplify]: Simplify phi1 into phi1
15.123 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.124 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
15.124 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.124 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.124 * [backup-simplify]: Simplify 0.5 into 0.5
15.124 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.124 * [backup-simplify]: Simplify phi2 into phi2
15.124 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.124 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.124 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.124 * [backup-simplify]: Simplify 0.5 into 0.5
15.124 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.124 * [backup-simplify]: Simplify phi2 into phi2
15.124 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.125 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.125 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.125 * [backup-simplify]: Simplify 0 into 0
15.125 * [backup-simplify]: Simplify 1 into 1
15.125 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.126 * [backup-simplify]: Simplify (- 0) into 0
15.126 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.126 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.126 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.126 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.126 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.127 * [backup-simplify]: Simplify (- 0) into 0
15.127 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
15.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
15.128 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.128 * [backup-simplify]: Simplify (* 1 1) into 1
15.129 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.129 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))))) in lambda2
15.129 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2
15.129 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
15.129 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
15.129 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
15.129 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
15.129 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.129 * [backup-simplify]: Simplify 0.5 into 0.5
15.129 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
15.129 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
15.129 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.129 * [backup-simplify]: Simplify phi1 into phi1
15.129 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.129 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
15.129 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.129 * [backup-simplify]: Simplify phi2 into phi2
15.129 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.129 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.130 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.130 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.130 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.130 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.130 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.131 * [backup-simplify]: Simplify (- 0) into 0
15.131 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.131 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
15.131 * [taylor]: Taking taylor expansion of lambda1 in lambda2
15.131 * [backup-simplify]: Simplify lambda1 into lambda1
15.132 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.132 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.132 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.132 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2
15.132 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
15.132 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
15.132 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
15.132 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.132 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.132 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.132 * [backup-simplify]: Simplify 0.5 into 0.5
15.133 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.133 * [backup-simplify]: Simplify phi1 into phi1
15.133 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.133 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.133 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.133 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.133 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.133 * [backup-simplify]: Simplify (- 0) into 0
15.134 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.134 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
15.134 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.134 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.134 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.134 * [backup-simplify]: Simplify 0.5 into 0.5
15.134 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.134 * [backup-simplify]: Simplify phi2 into phi2
15.134 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.134 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.134 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.134 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.134 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.135 * [backup-simplify]: Simplify (- 0) into 0
15.135 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.135 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.135 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.135 * [backup-simplify]: Simplify 0 into 0
15.135 * [backup-simplify]: Simplify 1 into 1
15.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.135 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.136 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.136 * [backup-simplify]: Simplify (* 1 1) into 1
15.137 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.137 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
15.137 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
15.137 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
15.137 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.137 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.137 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.137 * [backup-simplify]: Simplify 0.5 into 0.5
15.137 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.137 * [backup-simplify]: Simplify phi1 into phi1
15.137 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.137 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.137 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.137 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.137 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.138 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.138 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
15.138 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.138 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.138 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.138 * [backup-simplify]: Simplify 0.5 into 0.5
15.138 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.138 * [backup-simplify]: Simplify phi2 into phi2
15.138 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.138 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.138 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.138 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.138 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.138 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.138 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.138 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.138 * [backup-simplify]: Simplify 0 into 0
15.138 * [backup-simplify]: Simplify 1 into 1
15.139 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.139 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.139 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.140 * [backup-simplify]: Simplify (* 1 1) into 1
15.140 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.140 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)))) in lambda2
15.140 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
15.140 * [taylor]: Taking taylor expansion of 2 in lambda2
15.140 * [backup-simplify]: Simplify 2 into 2
15.140 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
15.140 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
15.140 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
15.140 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
15.140 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.140 * [backup-simplify]: Simplify 0.5 into 0.5
15.140 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
15.141 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
15.141 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.141 * [backup-simplify]: Simplify phi1 into phi1
15.141 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.141 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
15.141 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.141 * [backup-simplify]: Simplify phi2 into phi2
15.141 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.141 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.141 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.141 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.141 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.142 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.142 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.142 * [backup-simplify]: Simplify (- 0) into 0
15.142 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.143 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
15.143 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.143 * [backup-simplify]: Simplify 0 into 0
15.143 * [backup-simplify]: Simplify 1 into 1
15.143 * [taylor]: Taking taylor expansion of lambda1 in lambda2
15.143 * [backup-simplify]: Simplify lambda1 into lambda1
15.143 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.143 * [backup-simplify]: Simplify (* 0 lambda1) into 0
15.144 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
15.144 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
15.144 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2
15.144 * [taylor]: Taking taylor expansion of 2 in lambda2
15.144 * [backup-simplify]: Simplify 2 into 2
15.144 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2
15.144 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
15.144 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
15.144 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.144 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.144 * [backup-simplify]: Simplify 0.5 into 0.5
15.144 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.144 * [backup-simplify]: Simplify phi1 into phi1
15.144 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.144 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.144 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.144 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
15.144 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
15.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
15.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.145 * [backup-simplify]: Simplify 0.5 into 0.5
15.145 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.145 * [backup-simplify]: Simplify phi1 into phi1
15.145 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.145 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
15.145 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
15.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.145 * [backup-simplify]: Simplify 0.5 into 0.5
15.145 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.145 * [backup-simplify]: Simplify phi2 into phi2
15.145 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.145 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.145 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.145 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
15.145 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
15.145 * [taylor]: Taking taylor expansion of 0.5 in lambda2
15.145 * [backup-simplify]: Simplify 0.5 into 0.5
15.146 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.146 * [backup-simplify]: Simplify phi2 into phi2
15.146 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.146 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.146 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.146 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.146 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.146 * [backup-simplify]: Simplify 0 into 0
15.146 * [backup-simplify]: Simplify 1 into 1
15.146 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.146 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.147 * [backup-simplify]: Simplify (- 0) into 0
15.147 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.147 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.147 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.147 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.147 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.148 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.148 * [backup-simplify]: Simplify (- 0) into 0
15.148 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.148 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
15.149 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
15.149 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.149 * [backup-simplify]: Simplify (* 1 1) into 1
15.150 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.151 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
15.152 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
15.152 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
15.153 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
15.153 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.155 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.155 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
15.155 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
15.155 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
15.155 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
15.155 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
15.155 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
15.155 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.155 * [backup-simplify]: Simplify 0.5 into 0.5
15.155 * [taylor]: Taking taylor expansion of phi1 in phi2
15.155 * [backup-simplify]: Simplify phi1 into phi1
15.155 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.155 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.155 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.156 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.156 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.156 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
15.156 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
15.156 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
15.156 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.156 * [backup-simplify]: Simplify 0.5 into 0.5
15.156 * [taylor]: Taking taylor expansion of phi2 in phi2
15.156 * [backup-simplify]: Simplify 0 into 0
15.156 * [backup-simplify]: Simplify 1 into 1
15.157 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.157 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
15.157 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
15.157 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
15.157 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
15.157 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.157 * [backup-simplify]: Simplify 0.5 into 0.5
15.157 * [taylor]: Taking taylor expansion of phi1 in phi2
15.157 * [backup-simplify]: Simplify phi1 into phi1
15.157 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.157 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.157 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.158 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.158 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.158 * [backup-simplify]: Simplify (- 0) into 0
15.158 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.158 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
15.158 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
15.158 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
15.158 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.159 * [backup-simplify]: Simplify 0.5 into 0.5
15.159 * [taylor]: Taking taylor expansion of phi2 in phi2
15.159 * [backup-simplify]: Simplify 0 into 0
15.159 * [backup-simplify]: Simplify 1 into 1
15.159 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.159 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.159 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
15.160 * [taylor]: Taking taylor expansion of 2 in phi2
15.160 * [backup-simplify]: Simplify 2 into 2
15.160 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
15.160 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
15.160 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
15.160 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.160 * [backup-simplify]: Simplify 0.5 into 0.5
15.160 * [taylor]: Taking taylor expansion of phi1 in phi2
15.160 * [backup-simplify]: Simplify phi1 into phi1
15.160 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.160 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.160 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.160 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
15.160 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
15.160 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
15.160 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.160 * [backup-simplify]: Simplify 0.5 into 0.5
15.160 * [taylor]: Taking taylor expansion of phi1 in phi2
15.160 * [backup-simplify]: Simplify phi1 into phi1
15.160 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.161 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.161 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.161 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
15.161 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
15.161 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
15.161 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.161 * [backup-simplify]: Simplify 0.5 into 0.5
15.161 * [taylor]: Taking taylor expansion of phi2 in phi2
15.161 * [backup-simplify]: Simplify 0 into 0
15.161 * [backup-simplify]: Simplify 1 into 1
15.161 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.161 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.161 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
15.161 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
15.161 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.161 * [backup-simplify]: Simplify 0.5 into 0.5
15.161 * [taylor]: Taking taylor expansion of phi2 in phi2
15.161 * [backup-simplify]: Simplify 0 into 0
15.161 * [backup-simplify]: Simplify 1 into 1
15.162 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.162 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.162 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.162 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.162 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.162 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.162 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.163 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.163 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
15.163 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.163 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.163 * [backup-simplify]: Simplify (- 0) into 0
15.163 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.164 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.164 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.164 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.164 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
15.164 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
15.164 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.164 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
15.165 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.165 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.165 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
15.165 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
15.166 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
15.166 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
15.166 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
15.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.166 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.166 * [backup-simplify]: Simplify 0.5 into 0.5
15.166 * [taylor]: Taking taylor expansion of phi1 in phi1
15.166 * [backup-simplify]: Simplify 0 into 0
15.166 * [backup-simplify]: Simplify 1 into 1
15.166 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.166 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
15.166 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
15.166 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.166 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.166 * [backup-simplify]: Simplify 0.5 into 0.5
15.166 * [taylor]: Taking taylor expansion of phi2 in phi1
15.166 * [backup-simplify]: Simplify phi2 into phi2
15.166 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.166 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.166 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.167 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.167 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
15.167 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
15.167 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
15.167 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.167 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.167 * [backup-simplify]: Simplify 0.5 into 0.5
15.167 * [taylor]: Taking taylor expansion of phi1 in phi1
15.167 * [backup-simplify]: Simplify 0 into 0
15.167 * [backup-simplify]: Simplify 1 into 1
15.167 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.167 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.167 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
15.167 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
15.167 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.167 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.167 * [backup-simplify]: Simplify 0.5 into 0.5
15.167 * [taylor]: Taking taylor expansion of phi2 in phi1
15.167 * [backup-simplify]: Simplify phi2 into phi2
15.167 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.167 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.167 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.167 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.168 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.168 * [backup-simplify]: Simplify (- 0) into 0
15.168 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.168 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
15.168 * [taylor]: Taking taylor expansion of 2 in phi1
15.168 * [backup-simplify]: Simplify 2 into 2
15.168 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
15.168 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
15.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.168 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.168 * [backup-simplify]: Simplify 0.5 into 0.5
15.168 * [taylor]: Taking taylor expansion of phi1 in phi1
15.168 * [backup-simplify]: Simplify 0 into 0
15.168 * [backup-simplify]: Simplify 1 into 1
15.168 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.168 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.168 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
15.168 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
15.168 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
15.169 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.169 * [backup-simplify]: Simplify 0.5 into 0.5
15.169 * [taylor]: Taking taylor expansion of phi1 in phi1
15.169 * [backup-simplify]: Simplify 0 into 0
15.169 * [backup-simplify]: Simplify 1 into 1
15.169 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
15.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.169 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
15.169 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
15.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.169 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.169 * [backup-simplify]: Simplify 0.5 into 0.5
15.169 * [taylor]: Taking taylor expansion of phi2 in phi1
15.169 * [backup-simplify]: Simplify phi2 into phi2
15.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.169 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
15.169 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
15.169 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.169 * [backup-simplify]: Simplify 0.5 into 0.5
15.169 * [taylor]: Taking taylor expansion of phi2 in phi1
15.169 * [backup-simplify]: Simplify phi2 into phi2
15.169 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.169 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.169 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.170 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.170 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.170 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.170 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.170 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.170 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.171 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
15.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.171 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.171 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.171 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.171 * [backup-simplify]: Simplify (- 0) into 0
15.172 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
15.172 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
15.172 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.172 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
15.172 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.173 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.173 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
15.173 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
15.173 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
15.173 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
15.173 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
15.173 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
15.173 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.173 * [backup-simplify]: Simplify 0.5 into 0.5
15.173 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.173 * [backup-simplify]: Simplify phi1 into phi1
15.174 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.174 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.174 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
15.174 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
15.174 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
15.174 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.174 * [backup-simplify]: Simplify 0.5 into 0.5
15.174 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.174 * [backup-simplify]: Simplify phi2 into phi2
15.174 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.174 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.174 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.174 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.174 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.174 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.174 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
15.174 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
15.174 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
15.174 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
15.174 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.174 * [backup-simplify]: Simplify 0.5 into 0.5
15.174 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.174 * [backup-simplify]: Simplify phi1 into phi1
15.174 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.175 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.175 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.175 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.175 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.175 * [backup-simplify]: Simplify (- 0) into 0
15.175 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.175 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
15.175 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
15.175 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
15.175 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.175 * [backup-simplify]: Simplify 0.5 into 0.5
15.175 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.175 * [backup-simplify]: Simplify phi2 into phi2
15.176 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.176 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.176 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.176 * [backup-simplify]: Simplify (- 0) into 0
15.176 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.176 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
15.176 * [taylor]: Taking taylor expansion of 2 in lambda1
15.176 * [backup-simplify]: Simplify 2 into 2
15.176 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
15.176 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
15.176 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
15.176 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.176 * [backup-simplify]: Simplify 0.5 into 0.5
15.176 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.176 * [backup-simplify]: Simplify phi1 into phi1
15.176 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.176 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.176 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.177 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
15.177 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
15.177 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
15.177 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.177 * [backup-simplify]: Simplify 0.5 into 0.5
15.177 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.177 * [backup-simplify]: Simplify phi1 into phi1
15.177 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
15.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
15.177 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
15.177 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
15.177 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
15.177 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
15.177 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.177 * [backup-simplify]: Simplify 0.5 into 0.5
15.177 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.177 * [backup-simplify]: Simplify phi2 into phi2
15.177 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.177 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.177 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
15.177 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
15.177 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.177 * [backup-simplify]: Simplify 0.5 into 0.5
15.177 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.177 * [backup-simplify]: Simplify phi2 into phi2
15.177 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
15.177 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
15.177 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
15.178 * [backup-simplify]: Simplify (+ 0) into 0
15.178 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.178 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.179 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.179 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.179 * [backup-simplify]: Simplify (- 0) into 0
15.179 * [backup-simplify]: Simplify (+ 0 0) into 0
15.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.180 * [backup-simplify]: Simplify (+ 0) into 0
15.180 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.180 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.181 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.181 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.181 * [backup-simplify]: Simplify (- 0) into 0
15.181 * [backup-simplify]: Simplify (+ 0 0) into 0
15.182 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.182 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
15.182 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
15.183 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
15.183 * [backup-simplify]: Simplify (+ 0) into 0
15.184 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.184 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.184 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.185 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.185 * [backup-simplify]: Simplify (+ 0 0) into 0
15.185 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.185 * [backup-simplify]: Simplify (+ 0) into 0
15.185 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.186 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.186 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.186 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.187 * [backup-simplify]: Simplify (+ 0 0) into 0
15.187 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.187 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
15.187 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
15.188 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
15.188 * [backup-simplify]: Simplify (+ 0 0) into 0
15.189 * [backup-simplify]: Simplify (+ 0 0) into 0
15.189 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
15.193 * [backup-simplify]: Simplify (+ 0) into 0
15.194 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.195 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.195 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.196 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.196 * [backup-simplify]: Simplify (- 0) into 0
15.197 * [backup-simplify]: Simplify (+ 0 0) into 0
15.197 * [backup-simplify]: Simplify (+ 0) into 0
15.198 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.198 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.199 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.199 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.199 * [backup-simplify]: Simplify (+ 0 0) into 0
15.200 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.200 * [backup-simplify]: Simplify (+ 0) into 0
15.201 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.202 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.202 * [backup-simplify]: Simplify (+ 0 0) into 0
15.203 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
15.203 * [backup-simplify]: Simplify (+ 0) into 0
15.204 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.204 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.205 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.205 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.205 * [backup-simplify]: Simplify (- 0) into 0
15.206 * [backup-simplify]: Simplify (+ 0 0) into 0
15.206 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
15.207 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
15.208 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0
15.209 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
15.210 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
15.210 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
15.211 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
15.211 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2
15.211 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2
15.211 * [taylor]: Taking taylor expansion of 2 in phi2
15.211 * [backup-simplify]: Simplify 2 into 2
15.211 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2
15.211 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
15.211 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
15.211 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
15.211 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.211 * [backup-simplify]: Simplify 0.5 into 0.5
15.211 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
15.211 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
15.211 * [taylor]: Taking taylor expansion of phi1 in phi2
15.211 * [backup-simplify]: Simplify phi1 into phi1
15.211 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.211 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
15.211 * [taylor]: Taking taylor expansion of phi2 in phi2
15.211 * [backup-simplify]: Simplify 0 into 0
15.211 * [backup-simplify]: Simplify 1 into 1
15.212 * [backup-simplify]: Simplify (/ 1 1) into 1
15.212 * [backup-simplify]: Simplify (+ 0 1) into 1
15.213 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
15.213 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.213 * [taylor]: Taking taylor expansion of lambda1 in phi2
15.213 * [backup-simplify]: Simplify lambda1 into lambda1
15.213 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.214 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
15.214 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
15.215 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
15.215 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi1
15.215 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi1
15.215 * [taylor]: Taking taylor expansion of 2 in phi1
15.215 * [backup-simplify]: Simplify 2 into 2
15.215 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1
15.215 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
15.215 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
15.215 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
15.215 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.215 * [backup-simplify]: Simplify 0.5 into 0.5
15.215 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
15.215 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
15.215 * [taylor]: Taking taylor expansion of phi1 in phi1
15.215 * [backup-simplify]: Simplify 0 into 0
15.215 * [backup-simplify]: Simplify 1 into 1
15.216 * [backup-simplify]: Simplify (/ 1 1) into 1
15.216 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
15.216 * [taylor]: Taking taylor expansion of phi2 in phi1
15.216 * [backup-simplify]: Simplify phi2 into phi2
15.216 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.216 * [backup-simplify]: Simplify (+ 1 0) into 1
15.217 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
15.217 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.217 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.217 * [backup-simplify]: Simplify lambda1 into lambda1
15.218 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.218 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
15.218 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
15.219 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
15.219 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1
15.219 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1
15.219 * [taylor]: Taking taylor expansion of 2 in lambda1
15.219 * [backup-simplify]: Simplify 2 into 2
15.219 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1
15.219 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
15.219 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
15.219 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
15.219 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.219 * [backup-simplify]: Simplify 0.5 into 0.5
15.219 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
15.219 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
15.219 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.219 * [backup-simplify]: Simplify phi1 into phi1
15.219 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.219 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
15.219 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.219 * [backup-simplify]: Simplify phi2 into phi2
15.219 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.220 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.220 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.220 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.220 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.220 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.221 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.221 * [backup-simplify]: Simplify (- 0) into 0
15.221 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.221 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.221 * [backup-simplify]: Simplify 0 into 0
15.221 * [backup-simplify]: Simplify 1 into 1
15.222 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.222 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.223 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.223 * [backup-simplify]: Simplify (+ 0) into 0
15.224 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.224 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.225 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.226 * [backup-simplify]: Simplify (+ 0 0) into 0
15.226 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.226 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
15.227 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.227 * [backup-simplify]: Simplify (+ 0) into 0
15.228 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.228 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.229 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.229 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.229 * [backup-simplify]: Simplify (- 0) into 0
15.230 * [backup-simplify]: Simplify (+ 0 0) into 0
15.230 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.230 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
15.231 * [backup-simplify]: Simplify (+ 0 0) into 0
15.231 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.231 * [backup-simplify]: Simplify (+ 0) into 0
15.232 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.232 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.233 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.234 * [backup-simplify]: Simplify (+ 0 0) into 0
15.234 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
15.234 * [backup-simplify]: Simplify (+ 0) into 0
15.235 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
15.235 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
15.236 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.236 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
15.237 * [backup-simplify]: Simplify (- 0) into 0
15.237 * [backup-simplify]: Simplify (+ 0 0) into 0
15.238 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
15.238 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
15.239 * [backup-simplify]: Simplify (- 0) into 0
15.239 * [backup-simplify]: Simplify (+ 0 0) into 0
15.239 * [taylor]: Taking taylor expansion of 0 in phi1
15.239 * [backup-simplify]: Simplify 0 into 0
15.239 * [taylor]: Taking taylor expansion of 0 in lambda1
15.239 * [backup-simplify]: Simplify 0 into 0
15.240 * [backup-simplify]: Simplify (+ 0) into 0
15.240 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.240 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.242 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.242 * [backup-simplify]: Simplify (+ 0 0) into 0
15.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
15.242 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
15.243 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
15.243 * [backup-simplify]: Simplify (+ 0) into 0
15.244 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.244 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.245 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.246 * [backup-simplify]: Simplify (- 0) into 0
15.246 * [backup-simplify]: Simplify (+ 0 0) into 0
15.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.246 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
15.247 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
15.247 * [backup-simplify]: Simplify (+ 0 0) into 0
15.248 * [backup-simplify]: Simplify (+ 0) into 0
15.248 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.250 * [backup-simplify]: Simplify (- 0) into 0
15.250 * [backup-simplify]: Simplify (+ 0 0) into 0
15.251 * [backup-simplify]: Simplify (+ 0) into 0
15.251 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
15.251 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
15.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
15.253 * [backup-simplify]: Simplify (+ 0 0) into 0
15.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
15.253 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
15.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
15.254 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
15.255 * [backup-simplify]: Simplify (- 0) into 0
15.255 * [backup-simplify]: Simplify (+ 0 0) into 0
15.255 * [taylor]: Taking taylor expansion of 0 in lambda1
15.255 * [backup-simplify]: Simplify 0 into 0
15.256 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.257 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.257 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.258 * [backup-simplify]: Simplify (- 0) into 0
15.258 * [backup-simplify]: Simplify (+ 0 0) into 0
15.259 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
15.259 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.260 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.260 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.261 * [backup-simplify]: Simplify (- 0) into 0
15.261 * [backup-simplify]: Simplify (+ 0 0) into 0
15.262 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
15.262 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
15.263 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
15.264 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.265 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.265 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.266 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.266 * [backup-simplify]: Simplify (+ 0 0) into 0
15.266 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
15.267 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.268 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.268 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.269 * [backup-simplify]: Simplify (+ 0 0) into 0
15.269 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
15.269 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
15.270 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
15.271 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.271 * [backup-simplify]: Simplify (+ 0 0) into 0
15.272 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.272 * [backup-simplify]: Simplify (+ 0) into 0
15.272 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
15.272 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
15.272 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
15.273 * [backup-simplify]: Simplify (+ 0 0) into 0
15.273 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
15.273 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.274 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
15.274 * [backup-simplify]: Simplify (- 0) into 0
15.274 * [backup-simplify]: Simplify (+ 0 0) into 0
15.275 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
15.275 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
15.275 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
15.276 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
15.276 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.277 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.277 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.278 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.278 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.278 * [backup-simplify]: Simplify (- 0) into 0
15.278 * [backup-simplify]: Simplify (+ 0 0) into 0
15.279 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.279 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.279 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.280 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.280 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.280 * [backup-simplify]: Simplify (+ 0 0) into 0
15.281 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
15.281 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.282 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.283 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.283 * [backup-simplify]: Simplify (+ 0 0) into 0
15.283 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
15.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.284 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.284 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.285 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.285 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.286 * [backup-simplify]: Simplify (- 0) into 0
15.286 * [backup-simplify]: Simplify (+ 0 0) into 0
15.286 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
15.287 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
15.288 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.289 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
15.289 * [backup-simplify]: Simplify (+ 0 0) into 0
15.289 * [backup-simplify]: Simplify (- 0) into 0
15.290 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.290 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
15.290 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
15.290 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
15.290 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
15.290 * [taylor]: Taking taylor expansion of 0.5 in phi2
15.290 * [backup-simplify]: Simplify 0.5 into 0.5
15.290 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
15.290 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
15.290 * [taylor]: Taking taylor expansion of phi1 in phi2
15.290 * [backup-simplify]: Simplify phi1 into phi1
15.290 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.290 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
15.290 * [taylor]: Taking taylor expansion of phi2 in phi2
15.290 * [backup-simplify]: Simplify 0 into 0
15.290 * [backup-simplify]: Simplify 1 into 1
15.290 * [backup-simplify]: Simplify (/ 1 1) into 1
15.290 * [backup-simplify]: Simplify (+ 0 1) into 1
15.291 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
15.291 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.291 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
15.291 * [taylor]: Taking taylor expansion of lambda1 in phi2
15.291 * [backup-simplify]: Simplify lambda1 into lambda1
15.291 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.291 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.291 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.291 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
15.291 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
15.291 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
15.291 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
15.291 * [taylor]: Taking taylor expansion of 0.5 in phi1
15.291 * [backup-simplify]: Simplify 0.5 into 0.5
15.292 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
15.292 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
15.292 * [taylor]: Taking taylor expansion of phi1 in phi1
15.292 * [backup-simplify]: Simplify 0 into 0
15.292 * [backup-simplify]: Simplify 1 into 1
15.292 * [backup-simplify]: Simplify (/ 1 1) into 1
15.292 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
15.292 * [taylor]: Taking taylor expansion of phi2 in phi1
15.292 * [backup-simplify]: Simplify phi2 into phi2
15.292 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.292 * [backup-simplify]: Simplify (+ 1 0) into 1
15.293 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
15.293 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.293 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
15.293 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.293 * [backup-simplify]: Simplify lambda1 into lambda1
15.293 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.293 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.294 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.294 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
15.294 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
15.294 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
15.294 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
15.294 * [taylor]: Taking taylor expansion of 0.5 in lambda1
15.294 * [backup-simplify]: Simplify 0.5 into 0.5
15.294 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
15.294 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
15.294 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.294 * [backup-simplify]: Simplify phi1 into phi1
15.294 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.294 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
15.294 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.294 * [backup-simplify]: Simplify phi2 into phi2
15.294 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.294 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.295 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.295 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.295 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.295 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.296 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.296 * [backup-simplify]: Simplify (- 0) into 0
15.296 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.296 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
15.296 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.296 * [backup-simplify]: Simplify 0 into 0
15.296 * [backup-simplify]: Simplify 1 into 1
15.297 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.297 * [backup-simplify]: Simplify (* 1 1) into 1
15.298 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.298 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.298 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
15.299 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
15.300 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
15.300 * [backup-simplify]: Simplify (- 0) into 0
15.300 * [taylor]: Taking taylor expansion of 0 in phi1
15.300 * [backup-simplify]: Simplify 0 into 0
15.300 * [taylor]: Taking taylor expansion of 0 in lambda1
15.300 * [backup-simplify]: Simplify 0 into 0
15.301 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
15.302 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.303 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.304 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.305 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.305 * [backup-simplify]: Simplify (+ 0 0) into 0
15.306 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
15.306 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
15.307 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
15.308 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.309 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.309 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.309 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.310 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.310 * [backup-simplify]: Simplify (- 0) into 0
15.310 * [backup-simplify]: Simplify (+ 0 0) into 0
15.310 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
15.311 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
15.311 * [backup-simplify]: Simplify (+ 0 0) into 0
15.312 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
15.312 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.313 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.313 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.313 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.314 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.314 * [backup-simplify]: Simplify (+ 0 0) into 0
15.314 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
15.315 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.315 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.315 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.316 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.317 * [backup-simplify]: Simplify (- 0) into 0
15.317 * [backup-simplify]: Simplify (+ 0 0) into 0
15.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
15.318 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
15.318 * [backup-simplify]: Simplify (- 0) into 0
15.319 * [backup-simplify]: Simplify (+ 0 0) into 0
15.319 * [taylor]: Taking taylor expansion of 0 in phi1
15.319 * [backup-simplify]: Simplify 0 into 0
15.319 * [taylor]: Taking taylor expansion of 0 in lambda1
15.319 * [backup-simplify]: Simplify 0 into 0
15.319 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
15.319 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
15.320 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
15.320 * [backup-simplify]: Simplify (- 0) into 0
15.320 * [taylor]: Taking taylor expansion of 0 in lambda1
15.320 * [backup-simplify]: Simplify 0 into 0
15.320 * [taylor]: Taking taylor expansion of 0 in lambda1
15.320 * [backup-simplify]: Simplify 0 into 0
15.326 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.327 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.327 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.328 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.328 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.329 * [backup-simplify]: Simplify (+ 0 0) into 0
15.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
15.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
15.330 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
15.330 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.331 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.331 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.332 * [backup-simplify]: Simplify (- 0) into 0
15.332 * [backup-simplify]: Simplify (+ 0 0) into 0
15.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
15.333 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
15.333 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
15.334 * [backup-simplify]: Simplify (+ 0 0) into 0
15.334 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.335 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.336 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.336 * [backup-simplify]: Simplify (- 0) into 0
15.336 * [backup-simplify]: Simplify (+ 0 0) into 0
15.337 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.338 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.338 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.339 * [backup-simplify]: Simplify (+ 0 0) into 0
15.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
15.339 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
15.340 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
15.341 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
15.341 * [backup-simplify]: Simplify (- 0) into 0
15.341 * [backup-simplify]: Simplify (+ 0 0) into 0
15.341 * [taylor]: Taking taylor expansion of 0 in lambda1
15.341 * [backup-simplify]: Simplify 0 into 0
15.342 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
15.342 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
15.343 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
15.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
15.343 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
15.344 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
15.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
15.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
15.344 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
15.345 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
15.345 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
15.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
15.346 * [backup-simplify]: Simplify (- 0) into 0
15.346 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
15.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
15.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
15.347 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
15.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
15.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
15.347 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
15.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
15.347 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
15.348 * [backup-simplify]: Simplify (- 0) into 0
15.348 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
15.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
15.348 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
15.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
15.349 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
15.350 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.351 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.353 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
15.355 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda2))))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 (/ 1 (/ 1 lambda2)))))) (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (pow (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))
15.357 * [backup-simplify]: Simplify (- (+ (* (pow (/ 1 (- lambda2)) 2) (pow (- (* (cos (* 0.5 (/ 1 (- phi2)))) (cos (* 0.5 (/ 1 (- phi1))))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (pow (/ 1 (- lambda1)) 2))) (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1)))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))))
15.357 * [approximate]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in (lambda2 phi2 phi1 lambda1) around 0
15.357 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda1
15.357 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1
15.357 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1
15.357 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
15.357 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
15.357 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
15.357 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.357 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.357 * [backup-simplify]: Simplify -0.5 into -0.5
15.357 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.357 * [backup-simplify]: Simplify phi2 into phi2
15.358 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.358 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.358 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.358 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.358 * [backup-simplify]: Simplify (- 0) into 0
15.358 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.358 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
15.358 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
15.358 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.358 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.358 * [backup-simplify]: Simplify -0.5 into -0.5
15.358 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.358 * [backup-simplify]: Simplify phi1 into phi1
15.358 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.358 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.359 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.359 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.359 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.359 * [backup-simplify]: Simplify (- 0) into 0
15.359 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.359 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
15.359 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.359 * [backup-simplify]: Simplify lambda2 into lambda2
15.359 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
15.359 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
15.360 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.360 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.360 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
15.360 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1
15.360 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
15.360 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
15.360 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
15.360 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
15.360 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.360 * [backup-simplify]: Simplify -0.5 into -0.5
15.360 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
15.360 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
15.360 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.360 * [backup-simplify]: Simplify phi1 into phi1
15.360 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.360 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
15.360 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.360 * [backup-simplify]: Simplify phi2 into phi2
15.360 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.360 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.360 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.360 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.361 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.361 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.361 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.361 * [backup-simplify]: Simplify (- 0) into 0
15.361 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.361 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
15.361 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.361 * [backup-simplify]: Simplify 0 into 0
15.361 * [backup-simplify]: Simplify 1 into 1
15.362 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.362 * [backup-simplify]: Simplify (* 1 1) into 1
15.362 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.362 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1
15.362 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
15.362 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
15.362 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
15.362 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.362 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.362 * [backup-simplify]: Simplify -0.5 into -0.5
15.362 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.362 * [backup-simplify]: Simplify phi2 into phi2
15.362 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.362 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.362 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.362 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.363 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.363 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
15.363 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
15.363 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.363 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.363 * [backup-simplify]: Simplify -0.5 into -0.5
15.363 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.363 * [backup-simplify]: Simplify phi1 into phi1
15.363 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.363 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.363 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.363 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.363 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.363 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.363 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
15.363 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.363 * [backup-simplify]: Simplify lambda2 into lambda2
15.363 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
15.363 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
15.364 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.364 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.364 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
15.364 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda1
15.364 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
15.364 * [taylor]: Taking taylor expansion of 2 in lambda1
15.364 * [backup-simplify]: Simplify 2 into 2
15.364 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
15.364 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
15.364 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
15.364 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
15.364 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.364 * [backup-simplify]: Simplify -0.5 into -0.5
15.364 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
15.364 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
15.364 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.364 * [backup-simplify]: Simplify phi1 into phi1
15.364 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.364 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
15.364 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.364 * [backup-simplify]: Simplify phi2 into phi2
15.364 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.364 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.364 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.365 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.365 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.365 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.365 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.365 * [backup-simplify]: Simplify (- 0) into 0
15.365 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.365 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
15.365 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.365 * [backup-simplify]: Simplify lambda2 into lambda2
15.365 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.365 * [backup-simplify]: Simplify 0 into 0
15.365 * [backup-simplify]: Simplify 1 into 1
15.366 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.366 * [backup-simplify]: Simplify (* lambda2 0) into 0
15.366 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
15.366 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
15.366 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda1
15.366 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1
15.366 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
15.366 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
15.366 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.366 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.366 * [backup-simplify]: Simplify -0.5 into -0.5
15.366 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.366 * [backup-simplify]: Simplify phi1 into phi1
15.366 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.367 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
15.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
15.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.367 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.367 * [backup-simplify]: Simplify -0.5 into -0.5
15.367 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.367 * [backup-simplify]: Simplify phi2 into phi2
15.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.367 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
15.367 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
15.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.367 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.367 * [backup-simplify]: Simplify -0.5 into -0.5
15.367 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.367 * [backup-simplify]: Simplify phi2 into phi2
15.367 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.367 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
15.367 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.367 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.367 * [backup-simplify]: Simplify -0.5 into -0.5
15.367 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.367 * [backup-simplify]: Simplify phi1 into phi1
15.367 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.367 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.367 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.367 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
15.367 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.367 * [backup-simplify]: Simplify lambda2 into lambda2
15.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.368 * [backup-simplify]: Simplify (- 0) into 0
15.368 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.368 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.368 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.368 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.369 * [backup-simplify]: Simplify (- 0) into 0
15.369 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.369 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.369 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
15.369 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
15.369 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
15.369 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.370 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
15.370 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1
15.370 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1
15.370 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
15.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.370 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.370 * [backup-simplify]: Simplify -0.5 into -0.5
15.370 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.370 * [backup-simplify]: Simplify phi1 into phi1
15.370 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.370 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.370 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.370 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1
15.370 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
15.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.370 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.370 * [backup-simplify]: Simplify -0.5 into -0.5
15.370 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.370 * [backup-simplify]: Simplify phi2 into phi2
15.370 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.370 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.370 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.370 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
15.370 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
15.370 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.370 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.370 * [backup-simplify]: Simplify -0.5 into -0.5
15.370 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.370 * [backup-simplify]: Simplify phi2 into phi2
15.370 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.370 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.370 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.371 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
15.371 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.371 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.371 * [backup-simplify]: Simplify -0.5 into -0.5
15.371 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.371 * [backup-simplify]: Simplify phi1 into phi1
15.371 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.371 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.371 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.371 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
15.371 * [taylor]: Taking taylor expansion of lambda2 in lambda1
15.371 * [backup-simplify]: Simplify lambda2 into lambda2
15.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.371 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.371 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.371 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.371 * [backup-simplify]: Simplify (- 0) into 0
15.371 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.372 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.372 * [backup-simplify]: Simplify (- 0) into 0
15.372 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.372 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
15.372 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
15.373 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
15.373 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.373 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
15.373 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in phi1
15.373 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1
15.373 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1
15.373 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
15.373 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
15.373 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
15.373 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.373 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.373 * [backup-simplify]: Simplify -0.5 into -0.5
15.373 * [taylor]: Taking taylor expansion of phi2 in phi1
15.373 * [backup-simplify]: Simplify phi2 into phi2
15.373 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.373 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.373 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.373 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.374 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.374 * [backup-simplify]: Simplify (- 0) into 0
15.374 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.374 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
15.374 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
15.374 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.374 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.374 * [backup-simplify]: Simplify -0.5 into -0.5
15.374 * [taylor]: Taking taylor expansion of phi1 in phi1
15.374 * [backup-simplify]: Simplify 0 into 0
15.374 * [backup-simplify]: Simplify 1 into 1
15.375 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.375 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.375 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
15.375 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.375 * [backup-simplify]: Simplify lambda2 into lambda2
15.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
15.375 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
15.375 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.375 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.375 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
15.375 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1
15.375 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
15.376 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
15.376 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
15.376 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
15.376 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.376 * [backup-simplify]: Simplify -0.5 into -0.5
15.376 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
15.376 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
15.376 * [taylor]: Taking taylor expansion of phi1 in phi1
15.376 * [backup-simplify]: Simplify 0 into 0
15.376 * [backup-simplify]: Simplify 1 into 1
15.376 * [backup-simplify]: Simplify (/ 1 1) into 1
15.376 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
15.376 * [taylor]: Taking taylor expansion of phi2 in phi1
15.376 * [backup-simplify]: Simplify phi2 into phi2
15.376 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.376 * [backup-simplify]: Simplify (+ 1 0) into 1
15.377 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
15.377 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.377 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
15.377 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.377 * [backup-simplify]: Simplify lambda1 into lambda1
15.377 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.377 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.377 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.377 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1
15.377 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
15.377 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
15.377 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
15.377 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.377 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.377 * [backup-simplify]: Simplify -0.5 into -0.5
15.378 * [taylor]: Taking taylor expansion of phi2 in phi1
15.378 * [backup-simplify]: Simplify phi2 into phi2
15.378 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.378 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.378 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.378 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.378 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.378 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.378 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
15.378 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
15.378 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.378 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.378 * [backup-simplify]: Simplify -0.5 into -0.5
15.378 * [taylor]: Taking taylor expansion of phi1 in phi1
15.378 * [backup-simplify]: Simplify 0 into 0
15.378 * [backup-simplify]: Simplify 1 into 1
15.378 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.378 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.378 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
15.378 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.379 * [backup-simplify]: Simplify lambda2 into lambda2
15.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
15.379 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
15.379 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.379 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.379 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
15.379 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in phi1
15.379 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
15.379 * [taylor]: Taking taylor expansion of 2 in phi1
15.379 * [backup-simplify]: Simplify 2 into 2
15.379 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
15.379 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
15.379 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
15.379 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
15.379 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.379 * [backup-simplify]: Simplify -0.5 into -0.5
15.379 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
15.380 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
15.380 * [taylor]: Taking taylor expansion of phi1 in phi1
15.380 * [backup-simplify]: Simplify 0 into 0
15.380 * [backup-simplify]: Simplify 1 into 1
15.380 * [backup-simplify]: Simplify (/ 1 1) into 1
15.380 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
15.380 * [taylor]: Taking taylor expansion of phi2 in phi1
15.380 * [backup-simplify]: Simplify phi2 into phi2
15.380 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.380 * [backup-simplify]: Simplify (+ 1 0) into 1
15.380 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
15.381 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.381 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
15.381 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.381 * [backup-simplify]: Simplify lambda2 into lambda2
15.381 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.381 * [backup-simplify]: Simplify lambda1 into lambda1
15.381 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.381 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
15.381 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
15.381 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in phi1
15.381 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1
15.381 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
15.381 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
15.381 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.381 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.381 * [backup-simplify]: Simplify -0.5 into -0.5
15.381 * [taylor]: Taking taylor expansion of phi1 in phi1
15.381 * [backup-simplify]: Simplify 0 into 0
15.381 * [backup-simplify]: Simplify 1 into 1
15.382 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.382 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.382 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
15.382 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
15.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.382 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.382 * [backup-simplify]: Simplify -0.5 into -0.5
15.382 * [taylor]: Taking taylor expansion of phi2 in phi1
15.382 * [backup-simplify]: Simplify phi2 into phi2
15.382 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.382 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.382 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.382 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
15.382 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
15.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.382 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.382 * [backup-simplify]: Simplify -0.5 into -0.5
15.382 * [taylor]: Taking taylor expansion of phi2 in phi1
15.382 * [backup-simplify]: Simplify phi2 into phi2
15.382 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.382 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.382 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.382 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
15.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.382 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.382 * [backup-simplify]: Simplify -0.5 into -0.5
15.382 * [taylor]: Taking taylor expansion of phi1 in phi1
15.382 * [backup-simplify]: Simplify 0 into 0
15.382 * [backup-simplify]: Simplify 1 into 1
15.383 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.383 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.383 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
15.383 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.383 * [backup-simplify]: Simplify lambda2 into lambda2
15.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.383 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.383 * [backup-simplify]: Simplify (- 0) into 0
15.384 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
15.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
15.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
15.384 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.384 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
15.384 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi1
15.384 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
15.384 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
15.384 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.384 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.384 * [backup-simplify]: Simplify -0.5 into -0.5
15.384 * [taylor]: Taking taylor expansion of phi1 in phi1
15.385 * [backup-simplify]: Simplify 0 into 0
15.385 * [backup-simplify]: Simplify 1 into 1
15.385 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.385 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
15.385 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
15.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.385 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.385 * [backup-simplify]: Simplify -0.5 into -0.5
15.385 * [taylor]: Taking taylor expansion of phi2 in phi1
15.385 * [backup-simplify]: Simplify phi2 into phi2
15.385 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.386 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
15.386 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
15.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.386 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.386 * [backup-simplify]: Simplify -0.5 into -0.5
15.386 * [taylor]: Taking taylor expansion of phi2 in phi1
15.386 * [backup-simplify]: Simplify phi2 into phi2
15.386 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.386 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
15.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.386 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.386 * [backup-simplify]: Simplify -0.5 into -0.5
15.386 * [taylor]: Taking taylor expansion of phi1 in phi1
15.386 * [backup-simplify]: Simplify 0 into 0
15.386 * [backup-simplify]: Simplify 1 into 1
15.387 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.387 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.387 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
15.387 * [taylor]: Taking taylor expansion of lambda2 in phi1
15.387 * [backup-simplify]: Simplify lambda2 into lambda2
15.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.387 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.388 * [backup-simplify]: Simplify (- 0) into 0
15.388 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.388 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.388 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
15.388 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
15.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
15.389 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.389 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
15.389 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in phi2
15.390 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2
15.390 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2
15.390 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
15.390 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
15.390 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
15.390 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.390 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.390 * [backup-simplify]: Simplify -0.5 into -0.5
15.390 * [taylor]: Taking taylor expansion of phi2 in phi2
15.390 * [backup-simplify]: Simplify 0 into 0
15.390 * [backup-simplify]: Simplify 1 into 1
15.390 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.390 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.390 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
15.390 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
15.391 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.391 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.391 * [backup-simplify]: Simplify -0.5 into -0.5
15.391 * [taylor]: Taking taylor expansion of phi1 in phi2
15.391 * [backup-simplify]: Simplify phi1 into phi1
15.391 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.391 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.391 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.392 * [backup-simplify]: Simplify (- 0) into 0
15.392 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.392 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
15.392 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.392 * [backup-simplify]: Simplify lambda2 into lambda2
15.392 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
15.392 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
15.392 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.393 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.393 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
15.393 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2
15.393 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
15.393 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
15.393 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
15.393 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
15.393 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.393 * [backup-simplify]: Simplify -0.5 into -0.5
15.393 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
15.393 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
15.393 * [taylor]: Taking taylor expansion of phi1 in phi2
15.393 * [backup-simplify]: Simplify phi1 into phi1
15.393 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.393 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
15.393 * [taylor]: Taking taylor expansion of phi2 in phi2
15.394 * [backup-simplify]: Simplify 0 into 0
15.394 * [backup-simplify]: Simplify 1 into 1
15.394 * [backup-simplify]: Simplify (/ 1 1) into 1
15.394 * [backup-simplify]: Simplify (+ 0 1) into 1
15.395 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
15.395 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.395 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
15.395 * [taylor]: Taking taylor expansion of lambda1 in phi2
15.395 * [backup-simplify]: Simplify lambda1 into lambda1
15.396 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.396 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.396 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.396 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2
15.396 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
15.396 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
15.396 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
15.396 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.396 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.396 * [backup-simplify]: Simplify -0.5 into -0.5
15.396 * [taylor]: Taking taylor expansion of phi2 in phi2
15.396 * [backup-simplify]: Simplify 0 into 0
15.396 * [backup-simplify]: Simplify 1 into 1
15.397 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.397 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
15.397 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
15.397 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.397 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.397 * [backup-simplify]: Simplify -0.5 into -0.5
15.397 * [taylor]: Taking taylor expansion of phi1 in phi2
15.397 * [backup-simplify]: Simplify phi1 into phi1
15.397 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.397 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.397 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.398 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.398 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.398 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.398 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
15.398 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.398 * [backup-simplify]: Simplify lambda2 into lambda2
15.398 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
15.398 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
15.399 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.399 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.400 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
15.400 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in phi2
15.400 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
15.400 * [taylor]: Taking taylor expansion of 2 in phi2
15.400 * [backup-simplify]: Simplify 2 into 2
15.400 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
15.400 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
15.400 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
15.400 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
15.400 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.400 * [backup-simplify]: Simplify -0.5 into -0.5
15.400 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
15.400 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
15.400 * [taylor]: Taking taylor expansion of phi1 in phi2
15.400 * [backup-simplify]: Simplify phi1 into phi1
15.400 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.400 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
15.400 * [taylor]: Taking taylor expansion of phi2 in phi2
15.400 * [backup-simplify]: Simplify 0 into 0
15.400 * [backup-simplify]: Simplify 1 into 1
15.401 * [backup-simplify]: Simplify (/ 1 1) into 1
15.401 * [backup-simplify]: Simplify (+ 0 1) into 1
15.402 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
15.402 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.402 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
15.402 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.402 * [backup-simplify]: Simplify lambda2 into lambda2
15.402 * [taylor]: Taking taylor expansion of lambda1 in phi2
15.402 * [backup-simplify]: Simplify lambda1 into lambda1
15.402 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.403 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
15.403 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
15.403 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in phi2
15.403 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi2
15.403 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
15.403 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
15.403 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.403 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.403 * [backup-simplify]: Simplify -0.5 into -0.5
15.403 * [taylor]: Taking taylor expansion of phi1 in phi2
15.403 * [backup-simplify]: Simplify phi1 into phi1
15.403 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.403 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.404 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
15.404 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
15.404 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.404 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.404 * [backup-simplify]: Simplify -0.5 into -0.5
15.404 * [taylor]: Taking taylor expansion of phi2 in phi2
15.404 * [backup-simplify]: Simplify 0 into 0
15.404 * [backup-simplify]: Simplify 1 into 1
15.404 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.404 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.405 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
15.405 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
15.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.405 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.405 * [backup-simplify]: Simplify -0.5 into -0.5
15.405 * [taylor]: Taking taylor expansion of phi2 in phi2
15.405 * [backup-simplify]: Simplify 0 into 0
15.405 * [backup-simplify]: Simplify 1 into 1
15.405 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.405 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.405 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
15.405 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.405 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.405 * [backup-simplify]: Simplify -0.5 into -0.5
15.406 * [taylor]: Taking taylor expansion of phi1 in phi2
15.406 * [backup-simplify]: Simplify phi1 into phi1
15.406 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.406 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.406 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.406 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
15.406 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.406 * [backup-simplify]: Simplify lambda2 into lambda2
15.406 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.406 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.407 * [backup-simplify]: Simplify (- 0) into 0
15.407 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.407 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.407 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
15.407 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
15.408 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
15.408 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.409 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
15.409 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi2
15.409 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2
15.409 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
15.409 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.409 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.409 * [backup-simplify]: Simplify -0.5 into -0.5
15.409 * [taylor]: Taking taylor expansion of phi1 in phi2
15.409 * [backup-simplify]: Simplify phi1 into phi1
15.409 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.409 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.409 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.409 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2
15.409 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
15.409 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.409 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.409 * [backup-simplify]: Simplify -0.5 into -0.5
15.409 * [taylor]: Taking taylor expansion of phi2 in phi2
15.409 * [backup-simplify]: Simplify 0 into 0
15.409 * [backup-simplify]: Simplify 1 into 1
15.410 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.410 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.410 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
15.410 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
15.410 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.410 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.410 * [backup-simplify]: Simplify -0.5 into -0.5
15.410 * [taylor]: Taking taylor expansion of phi2 in phi2
15.410 * [backup-simplify]: Simplify 0 into 0
15.410 * [backup-simplify]: Simplify 1 into 1
15.411 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.411 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.411 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
15.411 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.411 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.411 * [backup-simplify]: Simplify -0.5 into -0.5
15.411 * [taylor]: Taking taylor expansion of phi1 in phi2
15.411 * [backup-simplify]: Simplify phi1 into phi1
15.411 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.411 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.411 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.411 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
15.411 * [taylor]: Taking taylor expansion of lambda2 in phi2
15.411 * [backup-simplify]: Simplify lambda2 into lambda2
15.411 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.412 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.412 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.412 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.412 * [backup-simplify]: Simplify (- 0) into 0
15.412 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
15.413 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
15.413 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
15.413 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
15.414 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
15.414 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda2
15.414 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2
15.414 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
15.414 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
15.414 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
15.414 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
15.414 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.414 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.414 * [backup-simplify]: Simplify -0.5 into -0.5
15.414 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.414 * [backup-simplify]: Simplify phi2 into phi2
15.414 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.415 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.415 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.415 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.415 * [backup-simplify]: Simplify (- 0) into 0
15.415 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.416 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
15.416 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
15.416 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.416 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.416 * [backup-simplify]: Simplify -0.5 into -0.5
15.416 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.416 * [backup-simplify]: Simplify phi1 into phi1
15.416 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.416 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.416 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.417 * [backup-simplify]: Simplify (- 0) into 0
15.417 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.417 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.417 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.417 * [backup-simplify]: Simplify 0 into 0
15.417 * [backup-simplify]: Simplify 1 into 1
15.417 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
15.417 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
15.418 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.418 * [backup-simplify]: Simplify (* 1 1) into 1
15.418 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.419 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2
15.419 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
15.419 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
15.419 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
15.419 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
15.419 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.419 * [backup-simplify]: Simplify -0.5 into -0.5
15.419 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
15.419 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
15.419 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.419 * [backup-simplify]: Simplify phi1 into phi1
15.419 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.419 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
15.419 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.419 * [backup-simplify]: Simplify phi2 into phi2
15.419 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.419 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.419 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.420 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.420 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.420 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.420 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.421 * [backup-simplify]: Simplify (- 0) into 0
15.421 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.421 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
15.421 * [taylor]: Taking taylor expansion of lambda1 in lambda2
15.421 * [backup-simplify]: Simplify lambda1 into lambda1
15.421 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.421 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.422 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.422 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
15.422 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
15.422 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
15.422 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
15.422 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.422 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.422 * [backup-simplify]: Simplify -0.5 into -0.5
15.422 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.422 * [backup-simplify]: Simplify phi2 into phi2
15.422 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.422 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.422 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.423 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.423 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.423 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
15.423 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
15.423 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.423 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.423 * [backup-simplify]: Simplify -0.5 into -0.5
15.423 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.423 * [backup-simplify]: Simplify phi1 into phi1
15.423 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.423 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.423 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.424 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.424 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.424 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.424 * [backup-simplify]: Simplify 0 into 0
15.424 * [backup-simplify]: Simplify 1 into 1
15.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
15.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
15.425 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.425 * [backup-simplify]: Simplify (* 1 1) into 1
15.426 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.426 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda2
15.426 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
15.426 * [taylor]: Taking taylor expansion of 2 in lambda2
15.426 * [backup-simplify]: Simplify 2 into 2
15.426 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
15.426 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
15.426 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
15.426 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
15.426 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.426 * [backup-simplify]: Simplify -0.5 into -0.5
15.426 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
15.426 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
15.426 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.426 * [backup-simplify]: Simplify phi1 into phi1
15.426 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.427 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
15.427 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.427 * [backup-simplify]: Simplify phi2 into phi2
15.427 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.427 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.427 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.427 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.427 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.428 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.428 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.428 * [backup-simplify]: Simplify (- 0) into 0
15.429 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.429 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
15.429 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.429 * [backup-simplify]: Simplify 0 into 0
15.429 * [backup-simplify]: Simplify 1 into 1
15.429 * [taylor]: Taking taylor expansion of lambda1 in lambda2
15.429 * [backup-simplify]: Simplify lambda1 into lambda1
15.429 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.429 * [backup-simplify]: Simplify (* 0 lambda1) into 0
15.430 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
15.430 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
15.430 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda2
15.430 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
15.430 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
15.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
15.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.430 * [backup-simplify]: Simplify -0.5 into -0.5
15.430 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.430 * [backup-simplify]: Simplify phi1 into phi1
15.430 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.431 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
15.431 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
15.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.431 * [backup-simplify]: Simplify -0.5 into -0.5
15.431 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.431 * [backup-simplify]: Simplify phi2 into phi2
15.431 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.431 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
15.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
15.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.431 * [backup-simplify]: Simplify -0.5 into -0.5
15.431 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.431 * [backup-simplify]: Simplify phi2 into phi2
15.431 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.432 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
15.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.432 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.432 * [backup-simplify]: Simplify -0.5 into -0.5
15.432 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.432 * [backup-simplify]: Simplify phi1 into phi1
15.432 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.432 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.432 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.432 * [backup-simplify]: Simplify 0 into 0
15.432 * [backup-simplify]: Simplify 1 into 1
15.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.433 * [backup-simplify]: Simplify (- 0) into 0
15.433 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.434 * [backup-simplify]: Simplify (- 0) into 0
15.434 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.434 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
15.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
15.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
15.436 * [backup-simplify]: Simplify (* 1 1) into 1
15.436 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
15.436 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
15.436 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2
15.436 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
15.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.436 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.436 * [backup-simplify]: Simplify -0.5 into -0.5
15.437 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.437 * [backup-simplify]: Simplify phi1 into phi1
15.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.437 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2
15.437 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
15.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.437 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.437 * [backup-simplify]: Simplify -0.5 into -0.5
15.437 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.437 * [backup-simplify]: Simplify phi2 into phi2
15.437 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.437 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
15.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
15.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.437 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.437 * [backup-simplify]: Simplify -0.5 into -0.5
15.438 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.438 * [backup-simplify]: Simplify phi2 into phi2
15.438 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.438 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
15.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.438 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.438 * [backup-simplify]: Simplify -0.5 into -0.5
15.438 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.438 * [backup-simplify]: Simplify phi1 into phi1
15.438 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.438 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.438 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.438 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.438 * [backup-simplify]: Simplify 0 into 0
15.438 * [backup-simplify]: Simplify 1 into 1
15.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.439 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.439 * [backup-simplify]: Simplify (- 0) into 0
15.440 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.440 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.440 * [backup-simplify]: Simplify (- 0) into 0
15.441 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.441 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
15.441 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
15.441 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
15.441 * [backup-simplify]: Simplify (* 1 1) into 1
15.442 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
15.442 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))))) in lambda2
15.442 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2
15.442 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
15.442 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
15.442 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
15.442 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
15.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.442 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.442 * [backup-simplify]: Simplify -0.5 into -0.5
15.442 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.442 * [backup-simplify]: Simplify phi2 into phi2
15.442 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.442 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.442 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.442 * [backup-simplify]: Simplify (- 0) into 0
15.442 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.443 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
15.443 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
15.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.443 * [backup-simplify]: Simplify -0.5 into -0.5
15.443 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.443 * [backup-simplify]: Simplify phi1 into phi1
15.443 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.443 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.443 * [backup-simplify]: Simplify (- 0) into 0
15.443 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.443 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.443 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.443 * [backup-simplify]: Simplify 0 into 0
15.443 * [backup-simplify]: Simplify 1 into 1
15.443 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
15.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
15.444 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.444 * [backup-simplify]: Simplify (* 1 1) into 1
15.444 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.444 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2
15.444 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda2
15.445 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
15.445 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
15.445 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
15.445 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.445 * [backup-simplify]: Simplify -0.5 into -0.5
15.445 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
15.445 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
15.445 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.445 * [backup-simplify]: Simplify phi1 into phi1
15.445 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.445 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
15.445 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.445 * [backup-simplify]: Simplify phi2 into phi2
15.445 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.445 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.445 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.445 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.445 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.445 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.446 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.446 * [backup-simplify]: Simplify (- 0) into 0
15.446 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.446 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
15.446 * [taylor]: Taking taylor expansion of lambda1 in lambda2
15.446 * [backup-simplify]: Simplify lambda1 into lambda1
15.446 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.447 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.447 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.447 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
15.447 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
15.447 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
15.447 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
15.447 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.447 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.447 * [backup-simplify]: Simplify -0.5 into -0.5
15.447 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.447 * [backup-simplify]: Simplify phi2 into phi2
15.447 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.447 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.447 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.447 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.447 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.447 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.447 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
15.447 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
15.447 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.447 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.447 * [backup-simplify]: Simplify -0.5 into -0.5
15.447 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.447 * [backup-simplify]: Simplify phi1 into phi1
15.448 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.448 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.448 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.448 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.448 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.448 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.448 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.448 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.448 * [backup-simplify]: Simplify 0 into 0
15.448 * [backup-simplify]: Simplify 1 into 1
15.448 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
15.448 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
15.448 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.449 * [backup-simplify]: Simplify (* 1 1) into 1
15.449 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.449 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)))) in lambda2
15.449 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
15.449 * [taylor]: Taking taylor expansion of 2 in lambda2
15.449 * [backup-simplify]: Simplify 2 into 2
15.449 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
15.449 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
15.449 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
15.449 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
15.449 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.449 * [backup-simplify]: Simplify -0.5 into -0.5
15.449 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
15.449 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
15.449 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.449 * [backup-simplify]: Simplify phi1 into phi1
15.449 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.449 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
15.449 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.449 * [backup-simplify]: Simplify phi2 into phi2
15.449 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.449 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.450 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.450 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.450 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.450 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.450 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.450 * [backup-simplify]: Simplify (- 0) into 0
15.450 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.450 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
15.450 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.450 * [backup-simplify]: Simplify 0 into 0
15.450 * [backup-simplify]: Simplify 1 into 1
15.450 * [taylor]: Taking taylor expansion of lambda1 in lambda2
15.450 * [backup-simplify]: Simplify lambda1 into lambda1
15.451 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.451 * [backup-simplify]: Simplify (* 0 lambda1) into 0
15.451 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
15.451 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
15.451 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))) in lambda2
15.451 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
15.451 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
15.451 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
15.451 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.451 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.451 * [backup-simplify]: Simplify -0.5 into -0.5
15.451 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.451 * [backup-simplify]: Simplify phi1 into phi1
15.451 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.452 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.452 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.452 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
15.452 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
15.452 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.452 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.452 * [backup-simplify]: Simplify -0.5 into -0.5
15.452 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.452 * [backup-simplify]: Simplify phi2 into phi2
15.452 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.452 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.452 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.452 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
15.452 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
15.452 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.452 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.452 * [backup-simplify]: Simplify -0.5 into -0.5
15.452 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.452 * [backup-simplify]: Simplify phi2 into phi2
15.452 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.452 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.452 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.452 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
15.452 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.452 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.452 * [backup-simplify]: Simplify -0.5 into -0.5
15.452 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.452 * [backup-simplify]: Simplify phi1 into phi1
15.452 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.452 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.452 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.452 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.452 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.452 * [backup-simplify]: Simplify 0 into 0
15.452 * [backup-simplify]: Simplify 1 into 1
15.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.453 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.453 * [backup-simplify]: Simplify (- 0) into 0
15.453 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.453 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.453 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.453 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.454 * [backup-simplify]: Simplify (- 0) into 0
15.454 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.454 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.454 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.454 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.454 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
15.454 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
15.454 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
15.455 * [backup-simplify]: Simplify (* 1 1) into 1
15.455 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
15.455 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
15.455 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2
15.455 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
15.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.455 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.455 * [backup-simplify]: Simplify -0.5 into -0.5
15.455 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.455 * [backup-simplify]: Simplify phi1 into phi1
15.455 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.455 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.455 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2
15.455 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
15.455 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.455 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.455 * [backup-simplify]: Simplify -0.5 into -0.5
15.455 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.455 * [backup-simplify]: Simplify phi2 into phi2
15.455 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.455 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.455 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.455 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
15.455 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
15.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
15.456 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.456 * [backup-simplify]: Simplify -0.5 into -0.5
15.456 * [taylor]: Taking taylor expansion of phi2 in lambda2
15.456 * [backup-simplify]: Simplify phi2 into phi2
15.456 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.456 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.456 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
15.456 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
15.456 * [taylor]: Taking taylor expansion of -0.5 in lambda2
15.456 * [backup-simplify]: Simplify -0.5 into -0.5
15.456 * [taylor]: Taking taylor expansion of phi1 in lambda2
15.456 * [backup-simplify]: Simplify phi1 into phi1
15.456 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.456 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.456 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.456 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
15.456 * [taylor]: Taking taylor expansion of lambda2 in lambda2
15.456 * [backup-simplify]: Simplify 0 into 0
15.456 * [backup-simplify]: Simplify 1 into 1
15.456 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.456 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.456 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.456 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.456 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.457 * [backup-simplify]: Simplify (- 0) into 0
15.457 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.457 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.457 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.457 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.457 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.457 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.457 * [backup-simplify]: Simplify (- 0) into 0
15.457 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.458 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
15.458 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
15.458 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
15.458 * [backup-simplify]: Simplify (* 1 1) into 1
15.458 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
15.459 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.459 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
15.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
15.460 * [backup-simplify]: Simplify (+ 0 (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
15.461 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
15.462 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
15.462 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2
15.462 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
15.462 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
15.462 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
15.462 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
15.462 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.462 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.462 * [backup-simplify]: Simplify -0.5 into -0.5
15.462 * [taylor]: Taking taylor expansion of phi2 in phi2
15.462 * [backup-simplify]: Simplify 0 into 0
15.462 * [backup-simplify]: Simplify 1 into 1
15.463 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.463 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
15.463 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
15.463 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.463 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.463 * [backup-simplify]: Simplify -0.5 into -0.5
15.463 * [taylor]: Taking taylor expansion of phi1 in phi2
15.463 * [backup-simplify]: Simplify phi1 into phi1
15.463 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.463 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.463 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.463 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.463 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.463 * [backup-simplify]: Simplify (- 0) into 0
15.463 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.463 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
15.463 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
15.464 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
15.464 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.464 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.464 * [backup-simplify]: Simplify -0.5 into -0.5
15.464 * [taylor]: Taking taylor expansion of phi2 in phi2
15.464 * [backup-simplify]: Simplify 0 into 0
15.464 * [backup-simplify]: Simplify 1 into 1
15.464 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.464 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.464 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
15.464 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
15.464 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.464 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.464 * [backup-simplify]: Simplify -0.5 into -0.5
15.464 * [taylor]: Taking taylor expansion of phi1 in phi2
15.464 * [backup-simplify]: Simplify phi1 into phi1
15.464 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.464 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.464 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.464 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.465 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2
15.465 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
15.465 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
15.465 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.465 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.465 * [backup-simplify]: Simplify -0.5 into -0.5
15.465 * [taylor]: Taking taylor expansion of phi2 in phi2
15.465 * [backup-simplify]: Simplify 0 into 0
15.465 * [backup-simplify]: Simplify 1 into 1
15.465 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.465 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.465 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
15.465 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
15.465 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.465 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.465 * [backup-simplify]: Simplify -0.5 into -0.5
15.465 * [taylor]: Taking taylor expansion of phi1 in phi2
15.465 * [backup-simplify]: Simplify phi1 into phi1
15.465 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.465 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.465 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.465 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
15.465 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
15.465 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.465 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.465 * [backup-simplify]: Simplify -0.5 into -0.5
15.465 * [taylor]: Taking taylor expansion of phi2 in phi2
15.465 * [backup-simplify]: Simplify 0 into 0
15.465 * [backup-simplify]: Simplify 1 into 1
15.466 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.466 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
15.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.466 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.466 * [backup-simplify]: Simplify -0.5 into -0.5
15.466 * [taylor]: Taking taylor expansion of phi1 in phi2
15.466 * [backup-simplify]: Simplify phi1 into phi1
15.466 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.466 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.466 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.466 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2
15.466 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
15.466 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.466 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.466 * [backup-simplify]: Simplify -0.5 into -0.5
15.466 * [taylor]: Taking taylor expansion of phi2 in phi2
15.466 * [backup-simplify]: Simplify 0 into 0
15.466 * [backup-simplify]: Simplify 1 into 1
15.467 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.467 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2
15.467 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
15.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.467 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.467 * [backup-simplify]: Simplify -0.5 into -0.5
15.467 * [taylor]: Taking taylor expansion of phi1 in phi2
15.467 * [backup-simplify]: Simplify phi1 into phi1
15.467 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.467 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.467 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
15.467 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
15.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
15.467 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.467 * [backup-simplify]: Simplify -0.5 into -0.5
15.467 * [taylor]: Taking taylor expansion of phi2 in phi2
15.467 * [backup-simplify]: Simplify 0 into 0
15.467 * [backup-simplify]: Simplify 1 into 1
15.467 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.467 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.467 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
15.467 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
15.467 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.467 * [backup-simplify]: Simplify -0.5 into -0.5
15.467 * [taylor]: Taking taylor expansion of phi1 in phi2
15.467 * [backup-simplify]: Simplify phi1 into phi1
15.468 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.468 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.468 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.468 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
15.468 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
15.468 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
15.468 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
15.469 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.469 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
15.469 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.469 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.469 * [backup-simplify]: Simplify (- 0) into 0
15.469 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.470 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
15.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
15.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
15.470 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.470 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.470 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.471 * [backup-simplify]: Simplify (- 0) into 0
15.471 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
15.471 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
15.471 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
15.472 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
15.472 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
15.473 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
15.473 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in phi1
15.474 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
15.474 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
15.474 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
15.474 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
15.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.474 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.474 * [backup-simplify]: Simplify -0.5 into -0.5
15.474 * [taylor]: Taking taylor expansion of phi2 in phi1
15.474 * [backup-simplify]: Simplify phi2 into phi2
15.474 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.474 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.474 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.474 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.474 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.474 * [backup-simplify]: Simplify (- 0) into 0
15.474 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.474 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
15.474 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
15.474 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.474 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.474 * [backup-simplify]: Simplify -0.5 into -0.5
15.474 * [taylor]: Taking taylor expansion of phi1 in phi1
15.475 * [backup-simplify]: Simplify 0 into 0
15.475 * [backup-simplify]: Simplify 1 into 1
15.475 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.475 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
15.475 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
15.475 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
15.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.475 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.475 * [backup-simplify]: Simplify -0.5 into -0.5
15.475 * [taylor]: Taking taylor expansion of phi2 in phi1
15.475 * [backup-simplify]: Simplify phi2 into phi2
15.475 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.475 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.475 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.475 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.475 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.475 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.475 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
15.475 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
15.475 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.475 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.475 * [backup-simplify]: Simplify -0.5 into -0.5
15.476 * [taylor]: Taking taylor expansion of phi1 in phi1
15.476 * [backup-simplify]: Simplify 0 into 0
15.476 * [backup-simplify]: Simplify 1 into 1
15.476 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.476 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in phi1
15.476 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1
15.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
15.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.476 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.476 * [backup-simplify]: Simplify -0.5 into -0.5
15.476 * [taylor]: Taking taylor expansion of phi2 in phi1
15.476 * [backup-simplify]: Simplify phi2 into phi2
15.476 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.476 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.476 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.476 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1
15.476 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
15.476 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.476 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.476 * [backup-simplify]: Simplify -0.5 into -0.5
15.476 * [taylor]: Taking taylor expansion of phi1 in phi1
15.476 * [backup-simplify]: Simplify 0 into 0
15.476 * [backup-simplify]: Simplify 1 into 1
15.477 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.477 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.477 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1
15.477 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
15.477 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.477 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.477 * [backup-simplify]: Simplify -0.5 into -0.5
15.477 * [taylor]: Taking taylor expansion of phi1 in phi1
15.477 * [backup-simplify]: Simplify 0 into 0
15.477 * [backup-simplify]: Simplify 1 into 1
15.478 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.478 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
15.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.478 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.478 * [backup-simplify]: Simplify -0.5 into -0.5
15.478 * [taylor]: Taking taylor expansion of phi2 in phi1
15.478 * [backup-simplify]: Simplify phi2 into phi2
15.478 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.478 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1
15.478 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
15.478 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.478 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.478 * [backup-simplify]: Simplify -0.5 into -0.5
15.478 * [taylor]: Taking taylor expansion of phi2 in phi1
15.478 * [backup-simplify]: Simplify phi2 into phi2
15.478 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.478 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.478 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.479 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1
15.479 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
15.479 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.479 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.479 * [backup-simplify]: Simplify -0.5 into -0.5
15.479 * [taylor]: Taking taylor expansion of phi1 in phi1
15.479 * [backup-simplify]: Simplify 0 into 0
15.479 * [backup-simplify]: Simplify 1 into 1
15.479 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.479 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.479 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1
15.479 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
15.479 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
15.479 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.479 * [backup-simplify]: Simplify -0.5 into -0.5
15.479 * [taylor]: Taking taylor expansion of phi1 in phi1
15.479 * [backup-simplify]: Simplify 0 into 0
15.479 * [backup-simplify]: Simplify 1 into 1
15.480 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
15.480 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.480 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
15.480 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
15.480 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.480 * [backup-simplify]: Simplify -0.5 into -0.5
15.480 * [taylor]: Taking taylor expansion of phi2 in phi1
15.480 * [backup-simplify]: Simplify phi2 into phi2
15.480 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.480 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.480 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
15.481 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
15.481 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.481 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
15.482 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
15.482 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.483 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
15.483 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.483 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.483 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.483 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.490 * [backup-simplify]: Simplify (- 0) into 0
15.490 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.490 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
15.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
15.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
15.491 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.491 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.492 * [backup-simplify]: Simplify (- 0) into 0
15.492 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.492 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.492 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.492 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.493 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))
15.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
15.493 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
15.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
15.495 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
15.497 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
15.497 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda1
15.497 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
15.497 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
15.498 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
15.498 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
15.498 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.498 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.498 * [backup-simplify]: Simplify -0.5 into -0.5
15.498 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.498 * [backup-simplify]: Simplify phi2 into phi2
15.498 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.498 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.498 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.498 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.498 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.499 * [backup-simplify]: Simplify (- 0) into 0
15.499 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.499 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
15.499 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
15.499 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.499 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.499 * [backup-simplify]: Simplify -0.5 into -0.5
15.499 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.499 * [backup-simplify]: Simplify phi1 into phi1
15.499 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.499 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.499 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.499 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.499 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.500 * [backup-simplify]: Simplify (- 0) into 0
15.500 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.500 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
15.500 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
15.500 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
15.500 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.500 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.500 * [backup-simplify]: Simplify -0.5 into -0.5
15.500 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.500 * [backup-simplify]: Simplify phi2 into phi2
15.500 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.500 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.501 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.501 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.501 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.501 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.501 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
15.501 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
15.501 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.501 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.501 * [backup-simplify]: Simplify -0.5 into -0.5
15.501 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.501 * [backup-simplify]: Simplify phi1 into phi1
15.501 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.501 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.501 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.501 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.502 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.502 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.502 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda1
15.502 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1
15.502 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
15.502 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.502 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.502 * [backup-simplify]: Simplify -0.5 into -0.5
15.502 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.502 * [backup-simplify]: Simplify phi2 into phi2
15.502 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.502 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.502 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.502 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1
15.502 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
15.502 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.502 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.502 * [backup-simplify]: Simplify -0.5 into -0.5
15.502 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.502 * [backup-simplify]: Simplify phi2 into phi2
15.502 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.502 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.503 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.503 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1
15.503 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
15.503 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.503 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.503 * [backup-simplify]: Simplify -0.5 into -0.5
15.503 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.503 * [backup-simplify]: Simplify phi1 into phi1
15.503 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.503 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.503 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.503 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
15.503 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.503 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.503 * [backup-simplify]: Simplify -0.5 into -0.5
15.503 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.503 * [backup-simplify]: Simplify phi1 into phi1
15.503 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.503 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.503 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.503 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1
15.503 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
15.503 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.504 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.504 * [backup-simplify]: Simplify -0.5 into -0.5
15.504 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.504 * [backup-simplify]: Simplify phi2 into phi2
15.504 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.504 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.504 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.504 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1
15.504 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
15.504 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
15.504 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.504 * [backup-simplify]: Simplify -0.5 into -0.5
15.504 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.504 * [backup-simplify]: Simplify phi2 into phi2
15.504 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
15.504 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
15.504 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
15.504 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1
15.504 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
15.504 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.504 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.504 * [backup-simplify]: Simplify -0.5 into -0.5
15.504 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.504 * [backup-simplify]: Simplify phi1 into phi1
15.504 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.505 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.505 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.505 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
15.505 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
15.505 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.505 * [backup-simplify]: Simplify -0.5 into -0.5
15.505 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.505 * [backup-simplify]: Simplify phi1 into phi1
15.505 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
15.505 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
15.505 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
15.505 * [backup-simplify]: Simplify (+ 0) into 0
15.506 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.506 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.506 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.507 * [backup-simplify]: Simplify (- 0) into 0
15.507 * [backup-simplify]: Simplify (+ 0 0) into 0
15.507 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
15.508 * [backup-simplify]: Simplify (+ 0) into 0
15.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.508 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.509 * [backup-simplify]: Simplify (- 0) into 0
15.509 * [backup-simplify]: Simplify (+ 0 0) into 0
15.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
15.510 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
15.510 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
15.511 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
15.511 * [backup-simplify]: Simplify (+ 0) into 0
15.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.513 * [backup-simplify]: Simplify (+ 0 0) into 0
15.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
15.513 * [backup-simplify]: Simplify (+ 0) into 0
15.514 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.514 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.515 * [backup-simplify]: Simplify (+ 0 0) into 0
15.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
15.515 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
15.516 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
15.516 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
15.517 * [backup-simplify]: Simplify (+ 0 0) into 0
15.517 * [backup-simplify]: Simplify (+ 0 0) into 0
15.517 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
15.517 * [backup-simplify]: Simplify (+ 0) into 0
15.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.519 * [backup-simplify]: Simplify (+ 0 0) into 0
15.519 * [backup-simplify]: Simplify (+ 0) into 0
15.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.520 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.520 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.521 * [backup-simplify]: Simplify (- 0) into 0
15.521 * [backup-simplify]: Simplify (+ 0 0) into 0
15.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
15.521 * [backup-simplify]: Simplify (+ 0) into 0
15.521 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.522 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.523 * [backup-simplify]: Simplify (+ 0 0) into 0
15.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
15.523 * [backup-simplify]: Simplify (+ 0) into 0
15.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.525 * [backup-simplify]: Simplify (- 0) into 0
15.525 * [backup-simplify]: Simplify (+ 0 0) into 0
15.525 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0
15.526 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
15.527 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0
15.527 * [backup-simplify]: Simplify (+ 0) into 0
15.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.528 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.528 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.529 * [backup-simplify]: Simplify (- 0) into 0
15.529 * [backup-simplify]: Simplify (+ 0 0) into 0
15.529 * [backup-simplify]: Simplify (+ 0) into 0
15.529 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.530 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.530 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.530 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.531 * [backup-simplify]: Simplify (+ 0 0) into 0
15.531 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
15.531 * [backup-simplify]: Simplify (+ 0) into 0
15.531 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.532 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.532 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.533 * [backup-simplify]: Simplify (- 0) into 0
15.533 * [backup-simplify]: Simplify (+ 0 0) into 0
15.533 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
15.533 * [backup-simplify]: Simplify (+ 0) into 0
15.534 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.534 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.534 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.534 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.535 * [backup-simplify]: Simplify (+ 0 0) into 0
15.535 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0
15.535 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
15.536 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0
15.536 * [backup-simplify]: Simplify (+ 0 0) into 0
15.537 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
15.537 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
15.537 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
15.537 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2
15.537 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2
15.537 * [taylor]: Taking taylor expansion of 2 in phi2
15.537 * [backup-simplify]: Simplify 2 into 2
15.537 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2
15.537 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
15.537 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
15.537 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
15.538 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.538 * [backup-simplify]: Simplify -0.5 into -0.5
15.538 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
15.538 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
15.538 * [taylor]: Taking taylor expansion of phi1 in phi2
15.538 * [backup-simplify]: Simplify phi1 into phi1
15.538 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.538 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
15.538 * [taylor]: Taking taylor expansion of phi2 in phi2
15.538 * [backup-simplify]: Simplify 0 into 0
15.538 * [backup-simplify]: Simplify 1 into 1
15.538 * [backup-simplify]: Simplify (/ 1 1) into 1
15.538 * [backup-simplify]: Simplify (+ 0 1) into 1
15.539 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
15.539 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.539 * [taylor]: Taking taylor expansion of lambda1 in phi2
15.539 * [backup-simplify]: Simplify lambda1 into lambda1
15.539 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.539 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
15.539 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
15.540 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
15.540 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi1
15.540 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi1
15.540 * [taylor]: Taking taylor expansion of 2 in phi1
15.540 * [backup-simplify]: Simplify 2 into 2
15.540 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1
15.540 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
15.540 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
15.540 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
15.540 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.540 * [backup-simplify]: Simplify -0.5 into -0.5
15.540 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
15.540 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
15.540 * [taylor]: Taking taylor expansion of phi1 in phi1
15.540 * [backup-simplify]: Simplify 0 into 0
15.540 * [backup-simplify]: Simplify 1 into 1
15.540 * [backup-simplify]: Simplify (/ 1 1) into 1
15.540 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
15.540 * [taylor]: Taking taylor expansion of phi2 in phi1
15.540 * [backup-simplify]: Simplify phi2 into phi2
15.540 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.541 * [backup-simplify]: Simplify (+ 1 0) into 1
15.541 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
15.541 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.541 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.541 * [backup-simplify]: Simplify lambda1 into lambda1
15.541 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.541 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
15.542 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
15.542 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
15.542 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1
15.542 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1
15.542 * [taylor]: Taking taylor expansion of 2 in lambda1
15.542 * [backup-simplify]: Simplify 2 into 2
15.542 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1
15.542 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
15.542 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
15.542 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
15.542 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.542 * [backup-simplify]: Simplify -0.5 into -0.5
15.542 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
15.542 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
15.542 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.542 * [backup-simplify]: Simplify phi1 into phi1
15.542 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.542 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
15.542 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.542 * [backup-simplify]: Simplify phi2 into phi2
15.542 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.542 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.543 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.543 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.543 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.543 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.543 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.543 * [backup-simplify]: Simplify (- 0) into 0
15.543 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.543 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.544 * [backup-simplify]: Simplify 0 into 0
15.544 * [backup-simplify]: Simplify 1 into 1
15.544 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.544 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.544 * [backup-simplify]: Simplify (+ 0) into 0
15.545 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.545 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.546 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.546 * [backup-simplify]: Simplify (- 0) into 0
15.546 * [backup-simplify]: Simplify (+ 0 0) into 0
15.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
15.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
15.547 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
15.547 * [backup-simplify]: Simplify (+ 0) into 0
15.547 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.548 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.548 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.549 * [backup-simplify]: Simplify (+ 0 0) into 0
15.549 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
15.549 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
15.549 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
15.549 * [backup-simplify]: Simplify (+ 0 0) into 0
15.550 * [backup-simplify]: Simplify (+ 0) into 0
15.550 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.550 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.551 * [backup-simplify]: Simplify (+ 0 0) into 0
15.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
15.551 * [backup-simplify]: Simplify (+ 0) into 0
15.552 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.552 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.553 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.553 * [backup-simplify]: Simplify (- 0) into 0
15.553 * [backup-simplify]: Simplify (+ 0 0) into 0
15.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
15.554 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
15.554 * [backup-simplify]: Simplify (+ 0) into 0
15.554 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.554 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.555 * [backup-simplify]: Simplify (- 0) into 0
15.556 * [backup-simplify]: Simplify (+ 0 0) into 0
15.556 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
15.556 * [backup-simplify]: Simplify (+ 0) into 0
15.556 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
15.557 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
15.557 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
15.558 * [backup-simplify]: Simplify (+ 0 0) into 0
15.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
15.558 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
15.558 * [backup-simplify]: Simplify (+ 0 0) into 0
15.559 * [backup-simplify]: Simplify (- 0) into 0
15.559 * [backup-simplify]: Simplify (+ 0 0) into 0
15.559 * [taylor]: Taking taylor expansion of 0 in phi1
15.559 * [backup-simplify]: Simplify 0 into 0
15.559 * [taylor]: Taking taylor expansion of 0 in lambda1
15.559 * [backup-simplify]: Simplify 0 into 0
15.559 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
15.559 * [backup-simplify]: Simplify (+ 0) into 0
15.560 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.560 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.560 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.561 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.561 * [backup-simplify]: Simplify (- 0) into 0
15.561 * [backup-simplify]: Simplify (+ 0 0) into 0
15.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
15.561 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
15.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
15.562 * [backup-simplify]: Simplify (+ 0) into 0
15.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.562 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.563 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.563 * [backup-simplify]: Simplify (+ 0 0) into 0
15.563 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
15.564 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
15.564 * [backup-simplify]: Simplify (+ 0 0) into 0
15.564 * [backup-simplify]: Simplify (+ 0) into 0
15.565 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.565 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.566 * [backup-simplify]: Simplify (- 0) into 0
15.566 * [backup-simplify]: Simplify (+ 0 0) into 0
15.566 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
15.566 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0
15.566 * [backup-simplify]: Simplify (+ 0) into 0
15.567 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.567 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.568 * [backup-simplify]: Simplify (+ 0 0) into 0
15.568 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
15.568 * [backup-simplify]: Simplify (+ 0) into 0
15.569 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.569 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.569 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.570 * [backup-simplify]: Simplify (+ 0 0) into 0
15.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
15.570 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0
15.570 * [backup-simplify]: Simplify (+ 0) into 0
15.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
15.571 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
15.571 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.572 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
15.572 * [backup-simplify]: Simplify (- 0) into 0
15.572 * [backup-simplify]: Simplify (+ 0 0) into 0
15.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
15.573 * [backup-simplify]: Simplify (+ 0 0) into 0
15.573 * [backup-simplify]: Simplify (- 0) into 0
15.573 * [backup-simplify]: Simplify (+ 0 0) into 0
15.573 * [taylor]: Taking taylor expansion of 0 in lambda1
15.573 * [backup-simplify]: Simplify 0 into 0
15.574 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.574 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.574 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.575 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.575 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.575 * [backup-simplify]: Simplify (- 0) into 0
15.575 * [backup-simplify]: Simplify (+ 0 0) into 0
15.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
15.576 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.577 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.578 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.579 * [backup-simplify]: Simplify (- 0) into 0
15.579 * [backup-simplify]: Simplify (+ 0 0) into 0
15.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
15.581 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
15.582 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
15.584 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.584 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.585 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.586 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.587 * [backup-simplify]: Simplify (+ 0 0) into 0
15.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
15.588 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.589 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.590 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.591 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.591 * [backup-simplify]: Simplify (+ 0 0) into 0
15.592 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
15.593 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
15.593 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
15.595 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.596 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.596 * [backup-simplify]: Simplify (+ 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.597 * [backup-simplify]: Simplify (+ 0) into 0
15.598 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
15.598 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
15.598 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
15.598 * [backup-simplify]: Simplify (+ 0 0) into 0
15.599 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
15.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
15.600 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
15.601 * [backup-simplify]: Simplify (- 0) into 0
15.601 * [backup-simplify]: Simplify (+ 0 0) into 0
15.602 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
15.602 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
15.603 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
15.604 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
15.605 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.606 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.607 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.607 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.608 * [backup-simplify]: Simplify (+ 0 0) into 0
15.615 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.617 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.619 * [backup-simplify]: Simplify (- 0) into 0
15.619 * [backup-simplify]: Simplify (+ 0 0) into 0
15.620 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
15.620 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.621 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.621 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.622 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.623 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.623 * [backup-simplify]: Simplify (+ 0 0) into 0
15.624 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
15.625 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.625 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.626 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.626 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.627 * [backup-simplify]: Simplify (- 0) into 0
15.628 * [backup-simplify]: Simplify (+ 0 0) into 0
15.628 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into 0
15.629 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
15.631 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.632 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.633 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.633 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.634 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.634 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.634 * [backup-simplify]: Simplify (- 0) into 0
15.635 * [backup-simplify]: Simplify (+ 0 0) into 0
15.636 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.636 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.637 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.637 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.638 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.638 * [backup-simplify]: Simplify (+ 0 0) into 0
15.639 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
15.640 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.641 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.642 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.642 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.643 * [backup-simplify]: Simplify (- 0) into 0
15.643 * [backup-simplify]: Simplify (+ 0 0) into 0
15.644 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
15.645 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.647 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.648 * [backup-simplify]: Simplify (+ 0 0) into 0
15.649 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))) into 0
15.650 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
15.651 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
15.652 * [backup-simplify]: Simplify (+ 0 0) into 0
15.652 * [backup-simplify]: Simplify (+ 0 0) into 0
15.653 * [backup-simplify]: Simplify (- 0) into 0
15.653 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) 0) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.653 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi2
15.653 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
15.653 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
15.653 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
15.653 * [taylor]: Taking taylor expansion of -0.5 in phi2
15.653 * [backup-simplify]: Simplify -0.5 into -0.5
15.653 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
15.653 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
15.653 * [taylor]: Taking taylor expansion of phi1 in phi2
15.654 * [backup-simplify]: Simplify phi1 into phi1
15.654 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.654 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
15.654 * [taylor]: Taking taylor expansion of phi2 in phi2
15.654 * [backup-simplify]: Simplify 0 into 0
15.654 * [backup-simplify]: Simplify 1 into 1
15.654 * [backup-simplify]: Simplify (/ 1 1) into 1
15.655 * [backup-simplify]: Simplify (+ 0 1) into 1
15.655 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
15.655 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.655 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
15.655 * [taylor]: Taking taylor expansion of lambda1 in phi2
15.655 * [backup-simplify]: Simplify lambda1 into lambda1
15.656 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.656 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.657 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.657 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in phi1
15.657 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
15.657 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
15.657 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
15.657 * [taylor]: Taking taylor expansion of -0.5 in phi1
15.657 * [backup-simplify]: Simplify -0.5 into -0.5
15.657 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
15.657 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
15.657 * [taylor]: Taking taylor expansion of phi1 in phi1
15.657 * [backup-simplify]: Simplify 0 into 0
15.657 * [backup-simplify]: Simplify 1 into 1
15.657 * [backup-simplify]: Simplify (/ 1 1) into 1
15.657 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
15.657 * [taylor]: Taking taylor expansion of phi2 in phi1
15.657 * [backup-simplify]: Simplify phi2 into phi2
15.657 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.658 * [backup-simplify]: Simplify (+ 1 0) into 1
15.658 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
15.658 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.659 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
15.659 * [taylor]: Taking taylor expansion of lambda1 in phi1
15.659 * [backup-simplify]: Simplify lambda1 into lambda1
15.659 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.659 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
15.659 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2))
15.660 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow lambda1 2)) in lambda1
15.660 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
15.660 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
15.660 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
15.660 * [taylor]: Taking taylor expansion of -0.5 in lambda1
15.660 * [backup-simplify]: Simplify -0.5 into -0.5
15.660 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
15.660 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
15.660 * [taylor]: Taking taylor expansion of phi1 in lambda1
15.660 * [backup-simplify]: Simplify phi1 into phi1
15.660 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
15.660 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
15.660 * [taylor]: Taking taylor expansion of phi2 in lambda1
15.660 * [backup-simplify]: Simplify phi2 into phi2
15.660 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
15.660 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
15.660 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
15.661 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.661 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.661 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.661 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
15.662 * [backup-simplify]: Simplify (- 0) into 0
15.662 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
15.662 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
15.662 * [taylor]: Taking taylor expansion of lambda1 in lambda1
15.662 * [backup-simplify]: Simplify 0 into 0
15.662 * [backup-simplify]: Simplify 1 into 1
15.662 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.663 * [backup-simplify]: Simplify (* 1 1) into 1
15.663 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.663 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
15.664 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
15.664 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
15.665 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
15.666 * [backup-simplify]: Simplify (- 0) into 0
15.666 * [taylor]: Taking taylor expansion of 0 in phi1
15.666 * [backup-simplify]: Simplify 0 into 0
15.666 * [taylor]: Taking taylor expansion of 0 in lambda1
15.666 * [backup-simplify]: Simplify 0 into 0
15.667 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.668 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.668 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.669 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.669 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.670 * [backup-simplify]: Simplify (- 0) into 0
15.670 * [backup-simplify]: Simplify (+ 0 0) into 0
15.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
15.671 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
15.672 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
15.673 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.674 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.674 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.675 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.675 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.676 * [backup-simplify]: Simplify (+ 0 0) into 0
15.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
15.677 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
15.677 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
15.678 * [backup-simplify]: Simplify (+ 0 0) into 0
15.679 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.680 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.680 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.681 * [backup-simplify]: Simplify (+ 0 0) into 0
15.682 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
15.683 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.684 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.684 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.685 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.685 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.686 * [backup-simplify]: Simplify (- 0) into 0
15.686 * [backup-simplify]: Simplify (+ 0 0) into 0
15.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
15.687 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into 0
15.688 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.689 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.690 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.691 * [backup-simplify]: Simplify (- 0) into 0
15.691 * [backup-simplify]: Simplify (+ 0 0) into 0
15.692 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
15.693 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.693 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
15.694 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
15.694 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.695 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
15.695 * [backup-simplify]: Simplify (+ 0 0) into 0
15.696 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
15.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into 0
15.697 * [backup-simplify]: Simplify (+ 0 0) into 0
15.697 * [backup-simplify]: Simplify (- 0) into 0
15.698 * [backup-simplify]: Simplify (+ 0 0) into 0
15.698 * [taylor]: Taking taylor expansion of 0 in phi1
15.698 * [backup-simplify]: Simplify 0 into 0
15.698 * [taylor]: Taking taylor expansion of 0 in lambda1
15.698 * [backup-simplify]: Simplify 0 into 0
15.698 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
15.699 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
15.700 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
15.700 * [backup-simplify]: Simplify (- 0) into 0
15.700 * [taylor]: Taking taylor expansion of 0 in lambda1
15.700 * [backup-simplify]: Simplify 0 into 0
15.700 * [taylor]: Taking taylor expansion of 0 in lambda1
15.700 * [backup-simplify]: Simplify 0 into 0
15.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
15.701 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.702 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.703 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.704 * [backup-simplify]: Simplify (- 0) into 0
15.704 * [backup-simplify]: Simplify (+ 0 0) into 0
15.705 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
15.706 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
15.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
15.707 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.709 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.709 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.710 * [backup-simplify]: Simplify (+ 0 0) into 0
15.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
15.712 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
15.712 * [backup-simplify]: Simplify (+ 0 0) into 0
15.713 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.714 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.714 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.715 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.716 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.716 * [backup-simplify]: Simplify (- 0) into 0
15.717 * [backup-simplify]: Simplify (+ 0 0) into 0
15.717 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
15.718 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
15.719 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.721 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.721 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.722 * [backup-simplify]: Simplify (+ 0 0) into 0
15.722 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0
15.723 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.724 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.725 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.726 * [backup-simplify]: Simplify (+ 0 0) into 0
15.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
15.727 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
15.728 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
15.729 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
15.729 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
15.730 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
15.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
15.731 * [backup-simplify]: Simplify (- 0) into 0
15.731 * [backup-simplify]: Simplify (+ 0 0) into 0
15.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
15.732 * [backup-simplify]: Simplify (+ 0 0) into 0
15.732 * [backup-simplify]: Simplify (- 0) into 0
15.733 * [backup-simplify]: Simplify (+ 0 0) into 0
15.733 * [taylor]: Taking taylor expansion of 0 in lambda1
15.733 * [backup-simplify]: Simplify 0 into 0
15.733 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
15.734 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
15.734 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
15.734 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
15.735 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
15.735 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
15.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
15.735 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
15.736 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
15.737 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
15.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.737 * [backup-simplify]: Simplify (- 0) into 0
15.738 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.738 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.739 * [backup-simplify]: Simplify (- 0) into 0
15.739 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.739 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
15.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
15.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
15.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
15.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
15.740 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
15.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
15.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
15.741 * [backup-simplify]: Simplify (- 0) into 0
15.741 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
15.741 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
15.741 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
15.741 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
15.742 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
15.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
15.742 * [backup-simplify]: Simplify (- 0) into 0
15.742 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
15.742 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
15.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
15.743 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
15.744 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
15.745 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
15.747 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
15.749 * [backup-simplify]: Simplify (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
15.755 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))))))) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda2)))))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 (/ 1 (/ 1 (- lambda2))))))) (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (pow (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))
15.755 * * * [progress]: simplifying candidates
15.760 * [simplify]: Simplifying:
  (log (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (exp (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (* (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (* (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (sqrt (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt 1)
  (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- phi1 phi2) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2)))))
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  (sqrt (+ (pow (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3) (pow (* (- phi1 phi2) (- phi1 phi2)) 3)))
  (sqrt (+ (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (- (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2))) (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (sqrt (- (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (* (- phi1 phi2) (- phi1 phi2)) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (- (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  (/ 1 2)
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))
  (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (* (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (/ (* (exp (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2))) (exp (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (exp (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (/ (exp (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (exp (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (log (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (exp (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (* (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (* (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (sqrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (sqrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3))
  (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (- (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- lambda1 lambda2)
  (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))) (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))))))
  (+ (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) 3))))))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
  (- (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2)))))))))
  (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))
15.787 * * [simplify]: Extracting # 0 : cost  0
15.787 * * [simplify]: Extracting # 1 : cost  0
15.788 * * [simplify]: Extracting # 2 : cost  0
15.788 * * [simplify]: Extracting # 3 : cost  0
15.789 * * [simplify]: Extracting # 4 : cost  0
15.790 * * [simplify]: Extracting # 5 : cost  0
15.790 * * [simplify]: Extracting # 6 : cost  0
15.791 * * [simplify]: Extracting # 7 : cost  0
15.792 * * [simplify]: Extracting # 8 : cost  0
15.793 * * [simplify]: Extracting # 9 : cost  0
15.794 * * [simplify]: Extracting # 10 : cost  0
15.794 * * [simplify]: Extracting # 11 : cost  0
15.795 * * [simplify]: Extracting # 12 : cost  0
15.796 * * [simplify]: Extracting # 13 : cost  0
15.797 * * [simplify]: Extracting # 14 : cost  0
15.798 * * [simplify]: Extracting # 15 : cost  0
15.799 * * [simplify]: Extracting # 16 : cost  0
15.799 * * [simplify]: Extracting # 17 : cost  0
15.800 * * [simplify]: Extracting # 18 : cost  0
15.801 * * [simplify]: iteration  0 :  297  enodes  (cost  8799 )
15.880 * * [simplify]: Extracting # 0 : cost  0
15.881 * * [simplify]: Extracting # 1 : cost  0
15.882 * * [simplify]: Extracting # 2 : cost  0
15.883 * * [simplify]: Extracting # 3 : cost  0
15.884 * * [simplify]: Extracting # 4 : cost  0
15.885 * * [simplify]: Extracting # 5 : cost  0
15.886 * * [simplify]: Extracting # 6 : cost  0
15.887 * * [simplify]: iteration  1 :  787  enodes  (cost  8164 )
16.301 * * [simplify]: Extracting # 0 : cost  0
16.309 * * [simplify]: Extracting # 1 : cost  0
16.319 * * [simplify]: Extracting # 2 : cost  0
16.324 * * [simplify]: Extracting # 3 : cost  0
16.329 * * [simplify]: Extracting # 4 : cost  0
16.335 * * [simplify]: iteration  2 :  4213  enodes  (cost  8025 )
18.107 * * [simplify]: Extracting # 0 : cost  0
18.118 * * [simplify]: Extracting # 1 : cost  0
18.124 * * [simplify]: Extracting # 2 : cost  0
18.133 * * [simplify]: Extracting # 3 : cost  0
18.145 * * [simplify]: Extracting # 4 : cost  0
18.158 * * [simplify]: iteration done:  5000  enodes  (cost  8023 )
18.161 * [simplify]: Simplified to:
  (log (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (exp (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (pow (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) 3)
  (fabs (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  1
  (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (* phi2 (+ phi1 phi2))) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2))))) (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))))) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))))
  (sqrt (+ (* (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ phi1 phi2)) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))) (* (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))))))))
  (sqrt (* (* (+ phi2 phi1) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))))))
  (sqrt (+ (* (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ phi1 phi2)) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))) (* (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))))))))
  (sqrt (* (* (+ phi2 phi1) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))))))
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  (sqrt (+ (* (+ (* phi1 phi1) (* phi2 (+ phi1 phi2))) (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3))) (* (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))))) (- phi1 phi2)) (- (pow phi1 3) (pow phi2 3)))))
  (sqrt (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))))) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))))
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  (sqrt (* (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))))
  (sqrt (+ (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3)))) (* (* (+ phi2 phi1) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))))
  (sqrt (* (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))))
  (sqrt (+ (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2)))) (* (* (+ phi1 phi2) (+ phi1 phi2)) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (+ (* phi1 phi1) (* phi2 (+ phi1 phi2))) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ phi2 phi1)) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)))
  (sqrt (+ (* (+ (* phi1 phi1) (* phi2 (+ phi1 phi2))) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ (* phi1 phi1) (* phi2 (+ phi1 phi2)))))
  (sqrt (+ (* (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (+ phi2 phi1)) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- phi1 phi2)))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)))
  (sqrt (+ (pow (- phi1 phi2) 6) (pow (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3)))
  (sqrt (+ (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (- phi1 phi2) (- (pow (- phi1 phi2) 3) (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- phi1 phi2))))))
  (sqrt (- (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (pow (- phi1 phi2) (+ 3 1))))
  (sqrt (- (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  1/2
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (pow (cos (* 0.5 (+ phi2 phi1))) 3)
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1)))))
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (pow (cos (* 0.5 (+ phi2 phi1))) 3)
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (exp (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (exp (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (log (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (exp (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (* (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (pow (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3)
  (sqrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (sqrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3))
  (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))))
  (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
  (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
  (- lambda1 lambda2)
  (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))
  (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
  (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2))) (- (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2)))) (* 2 (+ (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))))
  (- (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow lambda1 2)) (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))))
18.162 * * * [progress]: adding candidates to table
19.027 * * [progress]: iteration 4 / 4
19.028 * * * [progress]: picking best candidate
19.107 * * * * [pick]: Picked  #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))>
19.107 * * * [progress]: localizing error
19.204 * * * [progress]: generating rewritten candidates
19.204 * * * * [progress]: [ 1 / 4 ] rewriting at (2 2)
20.206 * * * * [progress]: [ 2 / 4 ] rewriting at (2 2 1 1 2 2 2 1 1)
20.220 * * * * [progress]: [ 3 / 4 ] rewriting at (2 2 1 1)
20.780 * * * * [progress]: [ 4 / 4 ] rewriting at (2 2 1 1 2 2 2 1)
20.801 * * * [progress]: generating series expansions
20.801 * * * * [progress]: [ 1 / 4 ] generating series at (2 2)
20.806 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))))
20.806 * [approximate]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in (lambda2 phi2 phi1 lambda1) around 0
20.806 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda1
20.806 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda1
20.807 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda1
20.807 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1
20.807 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1
20.807 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
20.807 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
20.807 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.807 * [backup-simplify]: Simplify 0.5 into 0.5
20.807 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.807 * [backup-simplify]: Simplify phi2 into phi2
20.807 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.807 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.807 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.807 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
20.807 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.807 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
20.808 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1
20.808 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1
20.808 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
20.808 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
20.808 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.808 * [backup-simplify]: Simplify 0.5 into 0.5
20.808 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.808 * [backup-simplify]: Simplify phi1 into phi1
20.808 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
20.808 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
20.808 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
20.808 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
20.808 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
20.808 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
20.808 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
20.808 * [taylor]: Taking taylor expansion of lambda1 in lambda1
20.808 * [backup-simplify]: Simplify 0 into 0
20.809 * [backup-simplify]: Simplify 1 into 1
20.809 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda1
20.809 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
20.809 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.809 * [backup-simplify]: Simplify phi2 into phi2
20.809 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda1
20.809 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1
20.809 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1
20.809 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
20.809 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
20.809 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.809 * [backup-simplify]: Simplify 0.5 into 0.5
20.809 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.809 * [backup-simplify]: Simplify phi2 into phi2
20.809 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.809 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.809 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.809 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
20.809 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.810 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
20.810 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1
20.810 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
20.810 * [taylor]: Taking taylor expansion of lambda2 in lambda1
20.810 * [backup-simplify]: Simplify lambda2 into lambda2
20.810 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1
20.810 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
20.810 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
20.810 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.810 * [backup-simplify]: Simplify 0.5 into 0.5
20.810 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.810 * [backup-simplify]: Simplify phi1 into phi1
20.810 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
20.810 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
20.810 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
20.810 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
20.810 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
20.810 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
20.811 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda1
20.811 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1
20.811 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1
20.811 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
20.811 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
20.811 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.811 * [backup-simplify]: Simplify 0.5 into 0.5
20.811 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.811 * [backup-simplify]: Simplify phi2 into phi2
20.811 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.811 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.811 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.811 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
20.811 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.812 * [backup-simplify]: Simplify (- 0) into 0
20.812 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
20.812 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1
20.812 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1
20.812 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
20.812 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
20.812 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.812 * [backup-simplify]: Simplify 0.5 into 0.5
20.813 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.813 * [backup-simplify]: Simplify phi1 into phi1
20.813 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
20.813 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
20.813 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
20.813 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
20.813 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
20.813 * [backup-simplify]: Simplify (- 0) into 0
20.814 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
20.814 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
20.814 * [taylor]: Taking taylor expansion of lambda2 in lambda1
20.814 * [backup-simplify]: Simplify lambda2 into lambda2
20.814 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda1
20.814 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
20.814 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.814 * [backup-simplify]: Simplify phi1 into phi1
20.814 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1
20.814 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1
20.814 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
20.814 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
20.814 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.814 * [backup-simplify]: Simplify 0.5 into 0.5
20.814 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.814 * [backup-simplify]: Simplify phi2 into phi2
20.814 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.814 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.814 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.815 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
20.815 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.815 * [backup-simplify]: Simplify (- 0) into 0
20.815 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
20.815 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1
20.815 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1
20.815 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
20.815 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
20.815 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.815 * [backup-simplify]: Simplify 0.5 into 0.5
20.816 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.816 * [backup-simplify]: Simplify phi1 into phi1
20.816 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
20.816 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
20.816 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
20.816 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
20.816 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
20.816 * [backup-simplify]: Simplify (- 0) into 0
20.817 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
20.817 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
20.817 * [taylor]: Taking taylor expansion of lambda1 in lambda1
20.817 * [backup-simplify]: Simplify 0 into 0
20.817 * [backup-simplify]: Simplify 1 into 1
20.817 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1
20.817 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda1
20.817 * [taylor]: Taking taylor expansion of 2 in lambda1
20.817 * [backup-simplify]: Simplify 2 into 2
20.817 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda1
20.817 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
20.817 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
20.817 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.817 * [backup-simplify]: Simplify 0.5 into 0.5
20.817 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.817 * [backup-simplify]: Simplify phi2 into phi2
20.817 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.817 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.817 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.817 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1
20.817 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
20.817 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
20.818 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.818 * [backup-simplify]: Simplify 0.5 into 0.5
20.818 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.818 * [backup-simplify]: Simplify phi2 into phi2
20.818 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.818 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.818 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.818 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1
20.818 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
20.818 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
20.818 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.818 * [backup-simplify]: Simplify 0.5 into 0.5
20.818 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.818 * [backup-simplify]: Simplify phi1 into phi1
20.818 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
20.818 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
20.818 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
20.818 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1
20.818 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
20.818 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
20.818 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.818 * [backup-simplify]: Simplify 0.5 into 0.5
20.818 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.819 * [backup-simplify]: Simplify phi1 into phi1
20.819 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
20.819 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
20.819 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
20.819 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
20.819 * [taylor]: Taking taylor expansion of lambda2 in lambda1
20.819 * [backup-simplify]: Simplify lambda2 into lambda2
20.819 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1
20.819 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda1
20.819 * [taylor]: Taking taylor expansion of 2 in lambda1
20.819 * [backup-simplify]: Simplify 2 into 2
20.819 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
20.819 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.819 * [backup-simplify]: Simplify phi2 into phi2
20.819 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.819 * [backup-simplify]: Simplify phi1 into phi1
20.819 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1
20.819 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda1
20.819 * [taylor]: Taking taylor expansion of 2 in lambda1
20.819 * [backup-simplify]: Simplify 2 into 2
20.819 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda1
20.819 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
20.819 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
20.819 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.819 * [backup-simplify]: Simplify 0.5 into 0.5
20.819 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.819 * [backup-simplify]: Simplify phi2 into phi2
20.820 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.820 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.820 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.820 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda1
20.820 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
20.820 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
20.820 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.820 * [backup-simplify]: Simplify 0.5 into 0.5
20.820 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.820 * [backup-simplify]: Simplify phi2 into phi2
20.820 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.820 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.820 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.820 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda1
20.820 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
20.820 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
20.820 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.820 * [backup-simplify]: Simplify 0.5 into 0.5
20.820 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.820 * [backup-simplify]: Simplify phi1 into phi1
20.820 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
20.821 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
20.821 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
20.821 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda1
20.821 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
20.821 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
20.821 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.821 * [backup-simplify]: Simplify 0.5 into 0.5
20.821 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.821 * [backup-simplify]: Simplify phi1 into phi1
20.821 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
20.821 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
20.821 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
20.821 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
20.821 * [taylor]: Taking taylor expansion of lambda1 in lambda1
20.821 * [backup-simplify]: Simplify 0 into 0
20.821 * [backup-simplify]: Simplify 1 into 1
20.821 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1
20.821 * [taylor]: Taking taylor expansion of 2 in lambda1
20.821 * [backup-simplify]: Simplify 2 into 2
20.821 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1
20.821 * [taylor]: Taking taylor expansion of lambda2 in lambda1
20.821 * [backup-simplify]: Simplify lambda2 into lambda2
20.822 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1
20.822 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
20.822 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
20.822 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
20.822 * [taylor]: Taking taylor expansion of 0.5 in lambda1
20.822 * [backup-simplify]: Simplify 0.5 into 0.5
20.822 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
20.822 * [taylor]: Taking taylor expansion of phi2 in lambda1
20.822 * [backup-simplify]: Simplify phi2 into phi2
20.822 * [taylor]: Taking taylor expansion of phi1 in lambda1
20.822 * [backup-simplify]: Simplify phi1 into phi1
20.822 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
20.822 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
20.822 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
20.822 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
20.822 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
20.822 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
20.823 * [backup-simplify]: Simplify (- 0) into 0
20.823 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
20.823 * [taylor]: Taking taylor expansion of lambda1 in lambda1
20.823 * [backup-simplify]: Simplify 0 into 0
20.823 * [backup-simplify]: Simplify 1 into 1
20.823 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
20.824 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
20.824 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
20.824 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
20.824 * [backup-simplify]: Simplify (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))
20.825 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)))
20.825 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
20.825 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
20.825 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
20.825 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))
20.826 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))
20.826 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
20.826 * [backup-simplify]: Simplify (+ (pow phi1 2) 0) into (pow phi1 2)
20.827 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2)) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2))
20.828 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (pow phi1 2))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))
20.830 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))
20.833 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (pow phi1 2))))
20.833 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
20.833 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.834 * [backup-simplify]: Simplify (- 0) into 0
20.834 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
20.834 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
20.834 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.834 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
20.834 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
20.834 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
20.839 * [backup-simplify]: Simplify (- 0) into 0
20.839 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
20.839 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
20.839 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
20.840 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
20.840 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
20.840 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2))
20.840 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))
20.841 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1)))))
20.841 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1)))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))
20.842 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))
20.842 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
20.842 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
20.842 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
20.842 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) into 0
20.842 * [backup-simplify]: Simplify (* lambda2 0) into 0
20.843 * [backup-simplify]: Simplify (* 2 0) into 0
20.844 * [backup-simplify]: Simplify (+ 0 0) into 0
20.844 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) 0) into (* 2 (* phi2 phi1))
20.845 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))) into (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))
20.846 * [backup-simplify]: Simplify (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))) into (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))
20.849 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi2 2) (pow phi1 2)))) (- (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))
20.853 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))
20.853 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
20.853 * [backup-simplify]: Simplify (+ 0) into 0
20.854 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
20.855 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
20.855 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.856 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
20.856 * [backup-simplify]: Simplify (+ 0 0) into 0
20.856 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0
20.857 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
20.857 * [backup-simplify]: Simplify (+ (* (pow lambda2 2) 0) (* 0 (pow (sin (* 0.5 phi1)) 2))) into 0
20.857 * [backup-simplify]: Simplify (+ 0) into 0
20.858 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
20.858 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.860 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
20.860 * [backup-simplify]: Simplify (+ 0 0) into 0
20.860 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
20.861 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0
20.861 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
20.862 * [backup-simplify]: Simplify (+ 0) into 0
20.862 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
20.863 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
20.864 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.864 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
20.865 * [backup-simplify]: Simplify (- 0) into 0
20.865 * [backup-simplify]: Simplify (+ 0 0) into 0
20.865 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
20.866 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0
20.866 * [backup-simplify]: Simplify (+ 0) into 0
20.867 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
20.867 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.868 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.868 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
20.869 * [backup-simplify]: Simplify (- 0) into 0
20.869 * [backup-simplify]: Simplify (+ 0 0) into 0
20.869 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
20.870 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0
20.870 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
20.870 * [backup-simplify]: Simplify (+ 0 0) into 0
20.871 * [backup-simplify]: Simplify (+ 0 0) into 0
20.871 * [backup-simplify]: Simplify (+ 0 0) into 0
20.872 * [backup-simplify]: Simplify (+ 0 0) into 0
20.872 * [backup-simplify]: Simplify (+ 0 0) into 0
20.872 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
20.873 * [backup-simplify]: Simplify (+ 0) into 0
20.873 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
20.874 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
20.875 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.875 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
20.875 * [backup-simplify]: Simplify (+ 0 0) into 0
20.876 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0
20.876 * [backup-simplify]: Simplify (+ 0) into 0
20.877 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
20.877 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
20.878 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.878 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
20.879 * [backup-simplify]: Simplify (- 0) into 0
20.879 * [backup-simplify]: Simplify (+ 0 0) into 0
20.879 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0
20.880 * [backup-simplify]: Simplify (+ 0) into 0
20.880 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
20.881 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.882 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.882 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
20.882 * [backup-simplify]: Simplify (+ 0 0) into 0
20.883 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into 0
20.883 * [backup-simplify]: Simplify (+ 0) into 0
20.884 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
20.884 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.886 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
20.886 * [backup-simplify]: Simplify (- 0) into 0
20.886 * [backup-simplify]: Simplify (+ 0 0) into 0
20.887 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (pow lambda2 2) (sin (* 0.5 phi1))))))) into 0
20.888 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) into 0
20.888 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
20.888 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
20.889 * [backup-simplify]: Simplify (+ 0) into 0
20.889 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
20.890 * [backup-simplify]: Simplify (+ 0 0) into 0
20.890 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
20.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.891 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
20.892 * [backup-simplify]: Simplify (- 0) into 0
20.892 * [backup-simplify]: Simplify (+ 0 0) into 0
20.893 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
20.893 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 1) (* 0 0)) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
20.894 * [backup-simplify]: Simplify (+ (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (* 0 0)) into (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))
20.895 * [backup-simplify]: Simplify (+ (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))) (* 0 0)) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
20.895 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
20.895 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
20.896 * [backup-simplify]: Simplify (+ 0 (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
20.896 * [backup-simplify]: Simplify (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
20.897 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))) into (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
20.901 * [backup-simplify]: Simplify (/ (- (* 2 (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (* 2 (* phi2 phi1)))))) (* lambda2 (pow (cos (* 0.5 (+ phi2 phi1))) 2))))
20.901 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi1
20.901 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi1
20.901 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi1
20.901 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
20.901 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1
20.901 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
20.901 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
20.901 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.901 * [backup-simplify]: Simplify 0.5 into 0.5
20.901 * [taylor]: Taking taylor expansion of phi2 in phi1
20.901 * [backup-simplify]: Simplify phi2 into phi2
20.901 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.901 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.902 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.902 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
20.902 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.902 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
20.902 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
20.902 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
20.902 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
20.902 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
20.902 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.902 * [backup-simplify]: Simplify 0.5 into 0.5
20.902 * [taylor]: Taking taylor expansion of phi1 in phi1
20.902 * [backup-simplify]: Simplify 0 into 0
20.902 * [backup-simplify]: Simplify 1 into 1
20.903 * [backup-simplify]: Simplify (* 0.5 0) into 0
20.904 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
20.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
20.907 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
20.907 * [taylor]: Taking taylor expansion of lambda1 in phi1
20.907 * [backup-simplify]: Simplify lambda1 into lambda1
20.907 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi1
20.907 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
20.907 * [taylor]: Taking taylor expansion of phi2 in phi1
20.907 * [backup-simplify]: Simplify phi2 into phi2
20.907 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi1
20.907 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1
20.907 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1
20.908 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
20.908 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
20.908 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.908 * [backup-simplify]: Simplify 0.5 into 0.5
20.908 * [taylor]: Taking taylor expansion of phi2 in phi1
20.908 * [backup-simplify]: Simplify phi2 into phi2
20.908 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.908 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.908 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.908 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
20.908 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.908 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
20.908 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1
20.908 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
20.908 * [taylor]: Taking taylor expansion of lambda2 in phi1
20.908 * [backup-simplify]: Simplify lambda2 into lambda2
20.908 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
20.909 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
20.909 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
20.909 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.909 * [backup-simplify]: Simplify 0.5 into 0.5
20.909 * [taylor]: Taking taylor expansion of phi1 in phi1
20.909 * [backup-simplify]: Simplify 0 into 0
20.909 * [backup-simplify]: Simplify 1 into 1
20.909 * [backup-simplify]: Simplify (* 0.5 0) into 0
20.911 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
20.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
20.914 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi1
20.914 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1
20.914 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1
20.914 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
20.914 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
20.914 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.914 * [backup-simplify]: Simplify 0.5 into 0.5
20.914 * [taylor]: Taking taylor expansion of phi2 in phi1
20.914 * [backup-simplify]: Simplify phi2 into phi2
20.914 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.915 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.915 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.915 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
20.915 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.915 * [backup-simplify]: Simplify (- 0) into 0
20.915 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
20.915 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1
20.915 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
20.916 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
20.916 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
20.916 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.916 * [backup-simplify]: Simplify 0.5 into 0.5
20.916 * [taylor]: Taking taylor expansion of phi1 in phi1
20.916 * [backup-simplify]: Simplify 0 into 0
20.916 * [backup-simplify]: Simplify 1 into 1
20.916 * [backup-simplify]: Simplify (* 0.5 0) into 0
20.918 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
20.918 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
20.918 * [taylor]: Taking taylor expansion of lambda2 in phi1
20.918 * [backup-simplify]: Simplify lambda2 into lambda2
20.918 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1
20.918 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
20.918 * [taylor]: Taking taylor expansion of phi1 in phi1
20.918 * [backup-simplify]: Simplify 0 into 0
20.918 * [backup-simplify]: Simplify 1 into 1
20.918 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
20.918 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1
20.918 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
20.918 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
20.918 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.918 * [backup-simplify]: Simplify 0.5 into 0.5
20.918 * [taylor]: Taking taylor expansion of phi2 in phi1
20.918 * [backup-simplify]: Simplify phi2 into phi2
20.918 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.918 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.918 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.919 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
20.919 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.919 * [backup-simplify]: Simplify (- 0) into 0
20.919 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
20.919 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
20.919 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
20.919 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
20.919 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
20.919 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.919 * [backup-simplify]: Simplify 0.5 into 0.5
20.919 * [taylor]: Taking taylor expansion of phi1 in phi1
20.919 * [backup-simplify]: Simplify 0 into 0
20.920 * [backup-simplify]: Simplify 1 into 1
20.920 * [backup-simplify]: Simplify (* 0.5 0) into 0
20.922 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
20.922 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
20.922 * [taylor]: Taking taylor expansion of lambda1 in phi1
20.922 * [backup-simplify]: Simplify lambda1 into lambda1
20.922 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1
20.922 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi1
20.922 * [taylor]: Taking taylor expansion of 2 in phi1
20.922 * [backup-simplify]: Simplify 2 into 2
20.922 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1
20.922 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
20.922 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
20.922 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.922 * [backup-simplify]: Simplify 0.5 into 0.5
20.922 * [taylor]: Taking taylor expansion of phi2 in phi1
20.922 * [backup-simplify]: Simplify phi2 into phi2
20.922 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.922 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.923 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.923 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1
20.923 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
20.923 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
20.923 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.923 * [backup-simplify]: Simplify 0.5 into 0.5
20.923 * [taylor]: Taking taylor expansion of phi2 in phi1
20.923 * [backup-simplify]: Simplify phi2 into phi2
20.923 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.923 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.923 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.923 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1
20.923 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
20.923 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
20.923 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.923 * [backup-simplify]: Simplify 0.5 into 0.5
20.923 * [taylor]: Taking taylor expansion of phi1 in phi1
20.923 * [backup-simplify]: Simplify 0 into 0
20.923 * [backup-simplify]: Simplify 1 into 1
20.924 * [backup-simplify]: Simplify (* 0.5 0) into 0
20.925 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
20.925 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1
20.925 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
20.925 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
20.925 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.925 * [backup-simplify]: Simplify 0.5 into 0.5
20.925 * [taylor]: Taking taylor expansion of phi1 in phi1
20.926 * [backup-simplify]: Simplify 0 into 0
20.926 * [backup-simplify]: Simplify 1 into 1
20.926 * [backup-simplify]: Simplify (* 0.5 0) into 0
20.927 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
20.927 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
20.928 * [taylor]: Taking taylor expansion of lambda2 in phi1
20.928 * [backup-simplify]: Simplify lambda2 into lambda2
20.928 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1
20.928 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi1
20.928 * [taylor]: Taking taylor expansion of 2 in phi1
20.928 * [backup-simplify]: Simplify 2 into 2
20.928 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
20.928 * [taylor]: Taking taylor expansion of phi2 in phi1
20.928 * [backup-simplify]: Simplify phi2 into phi2
20.928 * [taylor]: Taking taylor expansion of phi1 in phi1
20.928 * [backup-simplify]: Simplify 0 into 0
20.928 * [backup-simplify]: Simplify 1 into 1
20.928 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1
20.928 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi1
20.928 * [taylor]: Taking taylor expansion of 2 in phi1
20.928 * [backup-simplify]: Simplify 2 into 2
20.928 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1
20.928 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
20.928 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
20.928 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.928 * [backup-simplify]: Simplify 0.5 into 0.5
20.928 * [taylor]: Taking taylor expansion of phi2 in phi1
20.928 * [backup-simplify]: Simplify phi2 into phi2
20.928 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.928 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.929 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.929 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1
20.929 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
20.929 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
20.929 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.929 * [backup-simplify]: Simplify 0.5 into 0.5
20.929 * [taylor]: Taking taylor expansion of phi2 in phi1
20.929 * [backup-simplify]: Simplify phi2 into phi2
20.929 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.929 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.929 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.929 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1
20.929 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
20.929 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
20.929 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.929 * [backup-simplify]: Simplify 0.5 into 0.5
20.929 * [taylor]: Taking taylor expansion of phi1 in phi1
20.929 * [backup-simplify]: Simplify 0 into 0
20.929 * [backup-simplify]: Simplify 1 into 1
20.930 * [backup-simplify]: Simplify (* 0.5 0) into 0
20.931 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
20.931 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1
20.931 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
20.931 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
20.931 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.931 * [backup-simplify]: Simplify 0.5 into 0.5
20.932 * [taylor]: Taking taylor expansion of phi1 in phi1
20.932 * [backup-simplify]: Simplify 0 into 0
20.932 * [backup-simplify]: Simplify 1 into 1
20.932 * [backup-simplify]: Simplify (* 0.5 0) into 0
20.934 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
20.934 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
20.934 * [taylor]: Taking taylor expansion of lambda1 in phi1
20.934 * [backup-simplify]: Simplify lambda1 into lambda1
20.934 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1
20.934 * [taylor]: Taking taylor expansion of 2 in phi1
20.934 * [backup-simplify]: Simplify 2 into 2
20.934 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1
20.934 * [taylor]: Taking taylor expansion of lambda2 in phi1
20.934 * [backup-simplify]: Simplify lambda2 into lambda2
20.934 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1
20.934 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
20.934 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
20.934 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
20.934 * [taylor]: Taking taylor expansion of 0.5 in phi1
20.934 * [backup-simplify]: Simplify 0.5 into 0.5
20.934 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
20.934 * [taylor]: Taking taylor expansion of phi2 in phi1
20.934 * [backup-simplify]: Simplify phi2 into phi2
20.934 * [taylor]: Taking taylor expansion of phi1 in phi1
20.934 * [backup-simplify]: Simplify 0 into 0
20.934 * [backup-simplify]: Simplify 1 into 1
20.934 * [backup-simplify]: Simplify (+ phi2 0) into phi2
20.934 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
20.934 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
20.935 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
20.935 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
20.935 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.935 * [backup-simplify]: Simplify (- 0) into 0
20.935 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
20.935 * [taylor]: Taking taylor expansion of lambda1 in phi1
20.935 * [backup-simplify]: Simplify lambda1 into lambda1
20.935 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
20.936 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
20.936 * [backup-simplify]: Simplify (* 1 1) into 1
20.936 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
20.936 * [backup-simplify]: Simplify (* 1 (pow lambda2 2)) into (pow lambda2 2)
20.937 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2))
20.937 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
20.937 * [backup-simplify]: Simplify (* 1 1) into 1
20.937 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
20.937 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
20.938 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))
20.938 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))
20.939 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))
20.940 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))
20.941 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2)))
20.942 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2)))
20.942 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
20.942 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.943 * [backup-simplify]: Simplify (- 0) into 0
20.943 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
20.943 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
20.943 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.943 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
20.943 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
20.943 * [backup-simplify]: Simplify (* 0 (pow lambda2 2)) into 0
20.944 * [backup-simplify]: Simplify (* 1 0) into 0
20.944 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.944 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.945 * [backup-simplify]: Simplify (* 2 0) into 0
20.945 * [backup-simplify]: Simplify (* phi2 0) into 0
20.945 * [backup-simplify]: Simplify (* 2 0) into 0
20.945 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
20.945 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.946 * [backup-simplify]: Simplify (- 0) into 0
20.946 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
20.946 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
20.946 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.946 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
20.946 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
20.946 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0
20.947 * [backup-simplify]: Simplify (* 1 0) into 0
20.947 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
20.947 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
20.947 * [backup-simplify]: Simplify (* 2 0) into 0
20.948 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
20.948 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) lambda1) into (* (pow (cos (* 0.5 phi2)) 2) lambda1)
20.948 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi2)) 2) lambda1)) into (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))
20.948 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
20.949 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
20.949 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
20.950 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))
20.950 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))
20.951 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (- (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))
20.953 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))
20.953 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
20.953 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
20.954 * [backup-simplify]: Simplify (+ 0) into 0
20.955 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
20.955 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda2 2))) into 0
20.956 * [backup-simplify]: Simplify (+ 0) into 0
20.956 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
20.957 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.958 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.958 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
20.958 * [backup-simplify]: Simplify (- 0) into 0
20.959 * [backup-simplify]: Simplify (+ 0 0) into 0
20.959 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
20.959 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda2 2))) into 0
20.959 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
20.960 * [backup-simplify]: Simplify (+ 0) into 0
20.961 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
20.961 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
20.962 * [backup-simplify]: Simplify (+ 0) into 0
20.962 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
20.963 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.964 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.964 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
20.965 * [backup-simplify]: Simplify (- 0) into 0
20.965 * [backup-simplify]: Simplify (+ 0 0) into 0
20.965 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
20.966 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (pow lambda1 2))) into 0
20.966 * [backup-simplify]: Simplify (+ 0 0) into 0
20.966 * [backup-simplify]: Simplify (+ 0 0) into 0
20.967 * [backup-simplify]: Simplify (+ 0 0) into 0
20.967 * [backup-simplify]: Simplify (+ 0 0) into 0
20.967 * [backup-simplify]: Simplify (+ 0 0) into 0
20.967 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
20.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
20.971 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda2 2))) into (* 0.5 (pow lambda2 2))
20.971 * [backup-simplify]: Simplify (+ 0) into 0
20.972 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (pow lambda2 2))
20.972 * [backup-simplify]: Simplify (+ 0) into 0
20.972 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
20.973 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.974 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
20.975 * [backup-simplify]: Simplify (+ 0 0) into 0
20.975 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda2 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2)))
20.976 * [backup-simplify]: Simplify (+ 0) into 0
20.976 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
20.977 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.978 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
20.978 * [backup-simplify]: Simplify (- 0) into 0
20.979 * [backup-simplify]: Simplify (+ 0 0) into 0
20.980 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))
20.981 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))
20.981 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
20.982 * [backup-simplify]: Simplify (+ (* 2 phi2) (* 0 0)) into (* 2 phi2)
20.982 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
20.984 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
20.985 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2))
20.985 * [backup-simplify]: Simplify (+ 0) into 0
20.986 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
20.986 * [backup-simplify]: Simplify (+ 0) into 0
20.987 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
20.987 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.988 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.988 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
20.989 * [backup-simplify]: Simplify (+ 0 0) into 0
20.989 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda1 2)))
20.990 * [backup-simplify]: Simplify (+ 0) into 0
20.991 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
20.991 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
20.992 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
20.993 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
20.993 * [backup-simplify]: Simplify (- 0) into 0
20.993 * [backup-simplify]: Simplify (+ 0 0) into 0
20.994 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (* 0.5 (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))
20.995 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))
20.996 * [backup-simplify]: Simplify (+ 0) into 0
20.996 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
20.997 * [backup-simplify]: Simplify (+ 0 1) into 1
20.997 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi2)) into 0.5
21.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.001 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi2)))
21.001 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi2)))) into (- (* 0.5 (sin (* 0.5 phi2))))
21.001 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi2))))) into (- (* 0.5 (sin (* 0.5 phi2))))
21.001 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) (- (* 0.5 (sin (* 0.5 phi2))))) (* (- (* 0.5 (sin (* 0.5 phi2)))) (cos (* 0.5 phi2)))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))
21.002 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))
21.003 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
21.003 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
21.004 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
21.005 * [backup-simplify]: Simplify (+ (* 2 phi2) (- (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
21.007 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (- (+ (* 2 phi2) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (+ (* 2 phi2) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))
21.009 * [backup-simplify]: Simplify (- (- (+ (* 2 phi2) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))) (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))
21.010 * [backup-simplify]: Simplify (+ 0 (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))) into (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))
21.014 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi2)) 2) (pow lambda2 2)) (pow phi2 2))) (* 2 (* (pow (cos (* 0.5 phi2)) 2) (* lambda2 lambda1)))))) (- (* 2.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* lambda2 lambda1)))) (+ (* 2 phi2) (+ (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda2 2)))))))))
21.020 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in phi2
21.021 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in phi2
21.021 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in phi2
21.021 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.021 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
21.021 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.021 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.021 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.021 * [backup-simplify]: Simplify 0.5 into 0.5
21.021 * [taylor]: Taking taylor expansion of phi2 in phi2
21.021 * [backup-simplify]: Simplify 0 into 0
21.021 * [backup-simplify]: Simplify 1 into 1
21.022 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.023 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.026 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.026 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
21.026 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.026 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.026 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.026 * [backup-simplify]: Simplify 0.5 into 0.5
21.026 * [taylor]: Taking taylor expansion of phi1 in phi2
21.026 * [backup-simplify]: Simplify phi1 into phi1
21.026 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.026 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.026 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.027 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.027 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.027 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.027 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.027 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.027 * [backup-simplify]: Simplify lambda1 into lambda1
21.027 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in phi2
21.027 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
21.027 * [taylor]: Taking taylor expansion of phi2 in phi2
21.027 * [backup-simplify]: Simplify 0 into 0
21.027 * [backup-simplify]: Simplify 1 into 1
21.027 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2
21.027 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2
21.027 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
21.027 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.027 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.027 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.027 * [backup-simplify]: Simplify 0.5 into 0.5
21.027 * [taylor]: Taking taylor expansion of phi2 in phi2
21.027 * [backup-simplify]: Simplify 0 into 0
21.027 * [backup-simplify]: Simplify 1 into 1
21.028 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.029 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.032 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.032 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2
21.032 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
21.032 * [taylor]: Taking taylor expansion of lambda2 in phi2
21.032 * [backup-simplify]: Simplify lambda2 into lambda2
21.032 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
21.032 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.032 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.032 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.032 * [backup-simplify]: Simplify 0.5 into 0.5
21.032 * [taylor]: Taking taylor expansion of phi1 in phi2
21.032 * [backup-simplify]: Simplify phi1 into phi1
21.032 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.032 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.032 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.033 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.033 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.033 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.033 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2
21.033 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2
21.033 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
21.033 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.033 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.033 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.033 * [backup-simplify]: Simplify 0.5 into 0.5
21.033 * [taylor]: Taking taylor expansion of phi2 in phi2
21.033 * [backup-simplify]: Simplify 0 into 0
21.033 * [backup-simplify]: Simplify 1 into 1
21.034 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.035 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.035 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2
21.035 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
21.035 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.035 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.035 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.035 * [backup-simplify]: Simplify 0.5 into 0.5
21.035 * [taylor]: Taking taylor expansion of phi1 in phi2
21.035 * [backup-simplify]: Simplify phi1 into phi1
21.035 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.036 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.036 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.036 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.036 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.036 * [backup-simplify]: Simplify (- 0) into 0
21.036 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.036 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
21.036 * [taylor]: Taking taylor expansion of lambda2 in phi2
21.036 * [backup-simplify]: Simplify lambda2 into lambda2
21.036 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2
21.037 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
21.037 * [taylor]: Taking taylor expansion of phi1 in phi2
21.037 * [backup-simplify]: Simplify phi1 into phi1
21.037 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.037 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
21.037 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.037 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.037 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.037 * [backup-simplify]: Simplify 0.5 into 0.5
21.037 * [taylor]: Taking taylor expansion of phi2 in phi2
21.037 * [backup-simplify]: Simplify 0 into 0
21.037 * [backup-simplify]: Simplify 1 into 1
21.037 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.039 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.039 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.039 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
21.039 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.039 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.039 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.039 * [backup-simplify]: Simplify 0.5 into 0.5
21.039 * [taylor]: Taking taylor expansion of phi1 in phi2
21.039 * [backup-simplify]: Simplify phi1 into phi1
21.039 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.039 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.039 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.039 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.040 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.040 * [backup-simplify]: Simplify (- 0) into 0
21.040 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.040 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.040 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.040 * [backup-simplify]: Simplify lambda1 into lambda1
21.040 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2
21.040 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi2
21.040 * [taylor]: Taking taylor expansion of 2 in phi2
21.040 * [backup-simplify]: Simplify 2 into 2
21.040 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2
21.040 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.040 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.040 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.040 * [backup-simplify]: Simplify 0.5 into 0.5
21.041 * [taylor]: Taking taylor expansion of phi2 in phi2
21.041 * [backup-simplify]: Simplify 0 into 0
21.041 * [backup-simplify]: Simplify 1 into 1
21.041 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.042 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.042 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2
21.042 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.043 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.043 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.043 * [backup-simplify]: Simplify 0.5 into 0.5
21.043 * [taylor]: Taking taylor expansion of phi2 in phi2
21.043 * [backup-simplify]: Simplify 0 into 0
21.043 * [backup-simplify]: Simplify 1 into 1
21.043 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.044 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.045 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2
21.045 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.045 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.045 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.045 * [backup-simplify]: Simplify 0.5 into 0.5
21.045 * [taylor]: Taking taylor expansion of phi1 in phi2
21.045 * [backup-simplify]: Simplify phi1 into phi1
21.045 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.045 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.045 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.045 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2
21.045 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.045 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.045 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.045 * [backup-simplify]: Simplify 0.5 into 0.5
21.045 * [taylor]: Taking taylor expansion of phi1 in phi2
21.045 * [backup-simplify]: Simplify phi1 into phi1
21.045 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.045 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.045 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.045 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
21.045 * [taylor]: Taking taylor expansion of lambda2 in phi2
21.045 * [backup-simplify]: Simplify lambda2 into lambda2
21.045 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2
21.045 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
21.045 * [taylor]: Taking taylor expansion of 2 in phi2
21.045 * [backup-simplify]: Simplify 2 into 2
21.045 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
21.045 * [taylor]: Taking taylor expansion of phi2 in phi2
21.045 * [backup-simplify]: Simplify 0 into 0
21.045 * [backup-simplify]: Simplify 1 into 1
21.045 * [taylor]: Taking taylor expansion of phi1 in phi2
21.045 * [backup-simplify]: Simplify phi1 into phi1
21.045 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2
21.045 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2
21.045 * [taylor]: Taking taylor expansion of 2 in phi2
21.045 * [backup-simplify]: Simplify 2 into 2
21.045 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2
21.045 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.045 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.045 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.045 * [backup-simplify]: Simplify 0.5 into 0.5
21.045 * [taylor]: Taking taylor expansion of phi2 in phi2
21.045 * [backup-simplify]: Simplify 0 into 0
21.045 * [backup-simplify]: Simplify 1 into 1
21.046 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.047 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.047 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2
21.047 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.047 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.047 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.047 * [backup-simplify]: Simplify 0.5 into 0.5
21.047 * [taylor]: Taking taylor expansion of phi2 in phi2
21.047 * [backup-simplify]: Simplify 0 into 0
21.047 * [backup-simplify]: Simplify 1 into 1
21.047 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.048 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.048 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2
21.048 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.048 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.048 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.048 * [backup-simplify]: Simplify 0.5 into 0.5
21.048 * [taylor]: Taking taylor expansion of phi1 in phi2
21.048 * [backup-simplify]: Simplify phi1 into phi1
21.048 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.048 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.048 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.048 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2
21.048 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.048 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.048 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.048 * [backup-simplify]: Simplify 0.5 into 0.5
21.048 * [taylor]: Taking taylor expansion of phi1 in phi2
21.048 * [backup-simplify]: Simplify phi1 into phi1
21.048 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.048 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.049 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.049 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.049 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.049 * [backup-simplify]: Simplify lambda1 into lambda1
21.049 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
21.049 * [taylor]: Taking taylor expansion of 2 in phi2
21.049 * [backup-simplify]: Simplify 2 into 2
21.049 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
21.049 * [taylor]: Taking taylor expansion of lambda2 in phi2
21.049 * [backup-simplify]: Simplify lambda2 into lambda2
21.049 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
21.049 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
21.049 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
21.049 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
21.049 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.049 * [backup-simplify]: Simplify 0.5 into 0.5
21.049 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
21.049 * [taylor]: Taking taylor expansion of phi2 in phi2
21.049 * [backup-simplify]: Simplify 0 into 0
21.049 * [backup-simplify]: Simplify 1 into 1
21.049 * [taylor]: Taking taylor expansion of phi1 in phi2
21.049 * [backup-simplify]: Simplify phi1 into phi1
21.049 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
21.049 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.049 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.049 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.049 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.049 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.049 * [backup-simplify]: Simplify (- 0) into 0
21.049 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.049 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.050 * [backup-simplify]: Simplify lambda1 into lambda1
21.050 * [backup-simplify]: Simplify (* 1 1) into 1
21.050 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.050 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.050 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))
21.050 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))
21.050 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.051 * [backup-simplify]: Simplify (* 1 1) into 1
21.051 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.051 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.051 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.051 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.051 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.052 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.053 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.053 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.054 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.054 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.054 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.054 * [backup-simplify]: Simplify (- 0) into 0
21.054 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.054 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.054 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.055 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.055 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.055 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda2 2)) into (* (sin (* 0.5 phi1)) (pow lambda2 2))
21.055 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))
21.055 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0
21.055 * [backup-simplify]: Simplify (* 1 0) into 0
21.056 * [backup-simplify]: Simplify (* 2 0) into 0
21.056 * [backup-simplify]: Simplify (* 0 phi1) into 0
21.056 * [backup-simplify]: Simplify (* 2 0) into 0
21.056 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.056 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.056 * [backup-simplify]: Simplify (- 0) into 0
21.056 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.056 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.057 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.057 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.057 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.057 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
21.057 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
21.057 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.057 * [backup-simplify]: Simplify (* 1 0) into 0
21.058 * [backup-simplify]: Simplify (* 2 0) into 0
21.058 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.058 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
21.058 * [backup-simplify]: Simplify (* lambda2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))
21.058 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
21.058 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
21.059 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
21.059 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))
21.059 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))
21.060 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))
21.061 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))) into (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))))
21.061 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
21.061 * [backup-simplify]: Simplify (+ 0) into 0
21.062 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.062 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.063 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.063 * [backup-simplify]: Simplify (- 0) into 0
21.063 * [backup-simplify]: Simplify (+ 0 0) into 0
21.063 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
21.063 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda2 2))) into 0
21.064 * [backup-simplify]: Simplify (+ 0) into 0
21.064 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.065 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))) into 0
21.065 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
21.065 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.065 * [backup-simplify]: Simplify (+ 0) into 0
21.065 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.066 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.066 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.066 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.067 * [backup-simplify]: Simplify (- 0) into 0
21.067 * [backup-simplify]: Simplify (+ 0 0) into 0
21.067 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
21.067 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
21.068 * [backup-simplify]: Simplify (+ 0) into 0
21.068 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.068 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
21.069 * [backup-simplify]: Simplify (+ 0 0) into 0
21.069 * [backup-simplify]: Simplify (+ 0 0) into 0
21.069 * [backup-simplify]: Simplify (+ 0 0) into 0
21.069 * [backup-simplify]: Simplify (+ 0 0) into 0
21.070 * [backup-simplify]: Simplify (+ 0 0) into 0
21.070 * [backup-simplify]: Simplify (+ (* lambda2 0) (* 0 lambda2)) into 0
21.070 * [backup-simplify]: Simplify (+ 0) into 0
21.070 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.071 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.071 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.072 * [backup-simplify]: Simplify (+ 0 0) into 0
21.072 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda2 2))) into 0
21.072 * [backup-simplify]: Simplify (+ 0) into 0
21.072 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.073 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.073 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.074 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.074 * [backup-simplify]: Simplify (- 0) into 0
21.074 * [backup-simplify]: Simplify (+ 0 0) into 0
21.074 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda2 2)))) into 0
21.076 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.076 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))
21.076 * [backup-simplify]: Simplify (+ 0) into 0
21.077 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))
21.077 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))
21.078 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
21.078 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
21.078 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.078 * [backup-simplify]: Simplify (+ 0) into 0
21.079 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.079 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.079 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.080 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.080 * [backup-simplify]: Simplify (+ 0 0) into 0
21.080 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0
21.080 * [backup-simplify]: Simplify (+ 0) into 0
21.081 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.081 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.081 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.082 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.082 * [backup-simplify]: Simplify (- 0) into 0
21.082 * [backup-simplify]: Simplify (+ 0 0) into 0
21.082 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.084 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.084 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.084 * [backup-simplify]: Simplify (+ 0) into 0
21.085 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.085 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.086 * [backup-simplify]: Simplify (+ 0) into 0
21.086 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.086 * [backup-simplify]: Simplify (+ 1 0) into 1
21.087 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
21.088 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.088 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
21.088 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
21.088 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
21.089 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
21.089 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
21.089 * [backup-simplify]: Simplify (+ (* lambda2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
21.090 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1)))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
21.090 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
21.091 * [backup-simplify]: Simplify (+ (* 2 phi1) (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
21.092 * [backup-simplify]: Simplify (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))
21.093 * [backup-simplify]: Simplify (- (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))) (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))))
21.094 * [backup-simplify]: Simplify (+ 0 (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1))))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))))
21.095 * [backup-simplify]: Simplify (/ (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 2 phi1) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) (* 2 (sqrt (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))) into (* 1/2 (* (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* lambda2 lambda1)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) (* 2 phi1)))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 2 (* (pow (cos (* 0.5 phi1)) 2) (* lambda2 lambda1))))))))
21.096 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda2
21.096 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2
21.096 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda2
21.096 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2
21.096 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
21.096 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
21.096 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.096 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.096 * [backup-simplify]: Simplify 0.5 into 0.5
21.096 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.096 * [backup-simplify]: Simplify phi2 into phi2
21.096 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.096 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.096 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.096 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
21.096 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
21.096 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
21.096 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2
21.096 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
21.096 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
21.096 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.096 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.096 * [backup-simplify]: Simplify 0.5 into 0.5
21.096 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.096 * [backup-simplify]: Simplify phi1 into phi1
21.096 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.096 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.097 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.097 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.097 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.097 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.097 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.097 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.097 * [backup-simplify]: Simplify lambda1 into lambda1
21.097 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda2
21.097 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
21.097 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.097 * [backup-simplify]: Simplify phi2 into phi2
21.097 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda2
21.097 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
21.097 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
21.097 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
21.097 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.097 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.097 * [backup-simplify]: Simplify 0.5 into 0.5
21.097 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.097 * [backup-simplify]: Simplify phi2 into phi2
21.097 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.097 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.098 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.098 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
21.098 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
21.098 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
21.098 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
21.098 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.098 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.098 * [backup-simplify]: Simplify 0 into 0
21.098 * [backup-simplify]: Simplify 1 into 1
21.098 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
21.098 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
21.098 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.098 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.098 * [backup-simplify]: Simplify 0.5 into 0.5
21.098 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.098 * [backup-simplify]: Simplify phi1 into phi1
21.098 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.098 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.098 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.098 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.099 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.099 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.099 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda2
21.099 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2
21.099 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
21.099 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
21.099 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.099 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.099 * [backup-simplify]: Simplify 0.5 into 0.5
21.099 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.099 * [backup-simplify]: Simplify phi2 into phi2
21.099 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.099 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.099 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.099 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
21.099 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
21.100 * [backup-simplify]: Simplify (- 0) into 0
21.100 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
21.100 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2
21.100 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
21.100 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
21.100 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.100 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.100 * [backup-simplify]: Simplify 0.5 into 0.5
21.100 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.100 * [backup-simplify]: Simplify phi1 into phi1
21.100 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.101 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.101 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.101 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.101 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.101 * [backup-simplify]: Simplify (- 0) into 0
21.101 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.101 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.101 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.101 * [backup-simplify]: Simplify 0 into 0
21.101 * [backup-simplify]: Simplify 1 into 1
21.101 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda2
21.102 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
21.102 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.102 * [backup-simplify]: Simplify phi1 into phi1
21.102 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2
21.102 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
21.102 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
21.102 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.102 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.102 * [backup-simplify]: Simplify 0.5 into 0.5
21.102 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.102 * [backup-simplify]: Simplify phi2 into phi2
21.102 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.102 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.102 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.102 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
21.102 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
21.103 * [backup-simplify]: Simplify (- 0) into 0
21.103 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
21.103 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2
21.103 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
21.103 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
21.103 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.103 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.103 * [backup-simplify]: Simplify 0.5 into 0.5
21.103 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.103 * [backup-simplify]: Simplify phi1 into phi1
21.103 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.103 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.103 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.103 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.104 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.104 * [backup-simplify]: Simplify (- 0) into 0
21.104 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.104 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.104 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.104 * [backup-simplify]: Simplify lambda1 into lambda1
21.104 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
21.104 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2
21.104 * [taylor]: Taking taylor expansion of 2 in lambda2
21.104 * [backup-simplify]: Simplify 2 into 2
21.104 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2
21.104 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
21.104 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.104 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.104 * [backup-simplify]: Simplify 0.5 into 0.5
21.104 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.104 * [backup-simplify]: Simplify phi2 into phi2
21.105 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.105 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.105 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.105 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2
21.105 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
21.105 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.105 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.105 * [backup-simplify]: Simplify 0.5 into 0.5
21.105 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.105 * [backup-simplify]: Simplify phi2 into phi2
21.105 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.105 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.105 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.105 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2
21.105 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
21.105 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.105 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.105 * [backup-simplify]: Simplify 0.5 into 0.5
21.105 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.105 * [backup-simplify]: Simplify phi1 into phi1
21.105 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.105 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.106 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.106 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2
21.106 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
21.106 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.106 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.106 * [backup-simplify]: Simplify 0.5 into 0.5
21.106 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.106 * [backup-simplify]: Simplify phi1 into phi1
21.106 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.106 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.106 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.106 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.106 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.106 * [backup-simplify]: Simplify 0 into 0
21.106 * [backup-simplify]: Simplify 1 into 1
21.106 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
21.106 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
21.106 * [taylor]: Taking taylor expansion of 2 in lambda2
21.106 * [backup-simplify]: Simplify 2 into 2
21.106 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
21.106 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.106 * [backup-simplify]: Simplify phi2 into phi2
21.106 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.106 * [backup-simplify]: Simplify phi1 into phi1
21.106 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
21.106 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda2
21.106 * [taylor]: Taking taylor expansion of 2 in lambda2
21.106 * [backup-simplify]: Simplify 2 into 2
21.106 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda2
21.107 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
21.107 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.107 * [backup-simplify]: Simplify 0.5 into 0.5
21.107 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.107 * [backup-simplify]: Simplify phi2 into phi2
21.107 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.107 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.107 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.107 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda2
21.107 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
21.107 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.107 * [backup-simplify]: Simplify 0.5 into 0.5
21.107 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.107 * [backup-simplify]: Simplify phi2 into phi2
21.107 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.107 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.107 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.107 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda2
21.107 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
21.107 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.107 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.107 * [backup-simplify]: Simplify 0.5 into 0.5
21.107 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.108 * [backup-simplify]: Simplify phi1 into phi1
21.108 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.108 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.108 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.108 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda2
21.108 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
21.108 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.108 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.108 * [backup-simplify]: Simplify 0.5 into 0.5
21.108 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.108 * [backup-simplify]: Simplify phi1 into phi1
21.108 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.108 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.108 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.108 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.108 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.108 * [backup-simplify]: Simplify lambda1 into lambda1
21.108 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
21.108 * [taylor]: Taking taylor expansion of 2 in lambda2
21.108 * [backup-simplify]: Simplify 2 into 2
21.108 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
21.109 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.109 * [backup-simplify]: Simplify 0 into 0
21.109 * [backup-simplify]: Simplify 1 into 1
21.109 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
21.109 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
21.109 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
21.109 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
21.109 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.109 * [backup-simplify]: Simplify 0.5 into 0.5
21.109 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
21.109 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.109 * [backup-simplify]: Simplify phi2 into phi2
21.109 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.109 * [backup-simplify]: Simplify phi1 into phi1
21.109 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
21.109 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
21.109 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
21.109 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
21.109 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
21.109 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
21.110 * [backup-simplify]: Simplify (- 0) into 0
21.110 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
21.110 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.110 * [backup-simplify]: Simplify lambda1 into lambda1
21.110 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
21.111 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
21.111 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.111 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))
21.111 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))
21.111 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
21.112 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.112 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
21.112 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.112 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.112 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.113 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))
21.113 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
21.113 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))
21.114 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))
21.115 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))
21.116 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))
21.116 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
21.116 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
21.116 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
21.116 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
21.116 * [backup-simplify]: Simplify (- 0) into 0
21.116 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
21.116 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
21.116 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
21.116 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
21.116 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.117 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.117 * [backup-simplify]: Simplify (- 0) into 0
21.117 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.117 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.117 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.117 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.117 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.117 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
21.117 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
21.118 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.118 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
21.118 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
21.118 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
21.119 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
21.119 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
21.119 * [backup-simplify]: Simplify (* 2 0) into 0
21.119 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
21.120 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))
21.121 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))
21.121 * [backup-simplify]: Simplify (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))
21.123 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))
21.125 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))
21.125 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.125 * [backup-simplify]: Simplify (+ 0) into 0
21.126 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.126 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.127 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.127 * [backup-simplify]: Simplify (+ 0 0) into 0
21.127 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0
21.128 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
21.128 * [backup-simplify]: Simplify (+ 0) into 0
21.128 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
21.129 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
21.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.129 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
21.130 * [backup-simplify]: Simplify (+ 0 0) into 0
21.130 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
21.130 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
21.130 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
21.130 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
21.130 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.130 * [backup-simplify]: Simplify (+ 0) into 0
21.131 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.131 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.131 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.132 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.132 * [backup-simplify]: Simplify (- 0) into 0
21.132 * [backup-simplify]: Simplify (+ 0 0) into 0
21.132 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
21.133 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
21.133 * [backup-simplify]: Simplify (+ 0) into 0
21.133 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
21.133 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
21.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.134 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
21.134 * [backup-simplify]: Simplify (- 0) into 0
21.135 * [backup-simplify]: Simplify (+ 0 0) into 0
21.135 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
21.135 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
21.135 * [backup-simplify]: Simplify (+ 0 0) into 0
21.136 * [backup-simplify]: Simplify (+ 0 0) into 0
21.136 * [backup-simplify]: Simplify (+ 0 0) into 0
21.136 * [backup-simplify]: Simplify (+ 0 0) into 0
21.136 * [backup-simplify]: Simplify (+ 0 0) into 0
21.136 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
21.137 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
21.137 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.137 * [backup-simplify]: Simplify (+ 0) into 0
21.137 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.138 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.138 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.139 * [backup-simplify]: Simplify (+ 0 0) into 0
21.139 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0
21.139 * [backup-simplify]: Simplify (+ 0) into 0
21.144 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.144 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.145 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.146 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.146 * [backup-simplify]: Simplify (- 0) into 0
21.146 * [backup-simplify]: Simplify (+ 0 0) into 0
21.147 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.147 * [backup-simplify]: Simplify (+ 0) into 0
21.148 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
21.148 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
21.149 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.149 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
21.150 * [backup-simplify]: Simplify (+ 0 0) into 0
21.150 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0
21.151 * [backup-simplify]: Simplify (+ 0) into 0
21.151 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
21.152 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
21.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.153 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
21.153 * [backup-simplify]: Simplify (- 0) into 0
21.154 * [backup-simplify]: Simplify (+ 0 0) into 0
21.154 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0
21.155 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into 0
21.155 * [backup-simplify]: Simplify (+ 0) into 0
21.156 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
21.156 * [backup-simplify]: Simplify (+ 0 0) into 0
21.157 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
21.157 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.157 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
21.158 * [backup-simplify]: Simplify (- 0) into 0
21.158 * [backup-simplify]: Simplify (+ 0 0) into 0
21.158 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
21.158 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
21.159 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
21.159 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
21.159 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
21.160 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
21.160 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
21.160 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
21.160 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
21.162 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))))
21.163 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))) in lambda2
21.163 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))) in lambda2
21.163 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))))) in lambda2
21.163 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2
21.163 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
21.163 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
21.163 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.163 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.163 * [backup-simplify]: Simplify 0.5 into 0.5
21.163 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.163 * [backup-simplify]: Simplify phi2 into phi2
21.163 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.163 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.163 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.163 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
21.163 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
21.163 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
21.163 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2
21.163 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
21.163 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
21.163 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.163 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.163 * [backup-simplify]: Simplify 0.5 into 0.5
21.163 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.163 * [backup-simplify]: Simplify phi1 into phi1
21.163 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.163 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.163 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.163 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.164 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.164 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.164 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.164 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.164 * [backup-simplify]: Simplify lambda1 into lambda1
21.164 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))) in lambda2
21.164 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
21.164 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.164 * [backup-simplify]: Simplify phi2 into phi2
21.164 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda2
21.164 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
21.164 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
21.164 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
21.164 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.164 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.164 * [backup-simplify]: Simplify 0.5 into 0.5
21.164 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.164 * [backup-simplify]: Simplify phi2 into phi2
21.164 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.164 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.164 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.164 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
21.164 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
21.164 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
21.164 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
21.164 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.164 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.164 * [backup-simplify]: Simplify 0 into 0
21.164 * [backup-simplify]: Simplify 1 into 1
21.164 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
21.164 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
21.164 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.164 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.164 * [backup-simplify]: Simplify 0.5 into 0.5
21.164 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.164 * [backup-simplify]: Simplify phi1 into phi1
21.164 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.165 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.165 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.165 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.165 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.165 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.165 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda2
21.165 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2
21.165 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
21.165 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
21.165 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.165 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.165 * [backup-simplify]: Simplify 0.5 into 0.5
21.165 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.165 * [backup-simplify]: Simplify phi2 into phi2
21.165 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.165 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.165 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.165 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
21.165 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
21.166 * [backup-simplify]: Simplify (- 0) into 0
21.166 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
21.166 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2
21.166 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
21.166 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
21.166 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.166 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.166 * [backup-simplify]: Simplify 0.5 into 0.5
21.166 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.166 * [backup-simplify]: Simplify phi1 into phi1
21.166 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.166 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.166 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.166 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.166 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.166 * [backup-simplify]: Simplify (- 0) into 0
21.166 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.166 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.166 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.166 * [backup-simplify]: Simplify 0 into 0
21.166 * [backup-simplify]: Simplify 1 into 1
21.167 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda2
21.167 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
21.167 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.167 * [backup-simplify]: Simplify phi1 into phi1
21.167 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2
21.167 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
21.167 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
21.167 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.167 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.167 * [backup-simplify]: Simplify 0.5 into 0.5
21.167 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.167 * [backup-simplify]: Simplify phi2 into phi2
21.167 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.167 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.167 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.167 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
21.167 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
21.167 * [backup-simplify]: Simplify (- 0) into 0
21.167 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
21.167 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2
21.167 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
21.167 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
21.167 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.167 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.167 * [backup-simplify]: Simplify 0.5 into 0.5
21.167 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.167 * [backup-simplify]: Simplify phi1 into phi1
21.167 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.168 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.168 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.168 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.168 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.168 * [backup-simplify]: Simplify (- 0) into 0
21.168 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.168 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.168 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.168 * [backup-simplify]: Simplify lambda1 into lambda1
21.168 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
21.168 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2
21.168 * [taylor]: Taking taylor expansion of 2 in lambda2
21.168 * [backup-simplify]: Simplify 2 into 2
21.168 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2
21.168 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
21.168 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.168 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.168 * [backup-simplify]: Simplify 0.5 into 0.5
21.168 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.168 * [backup-simplify]: Simplify phi2 into phi2
21.168 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.168 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.168 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.169 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2
21.169 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
21.169 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.169 * [backup-simplify]: Simplify 0.5 into 0.5
21.169 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.169 * [backup-simplify]: Simplify phi2 into phi2
21.169 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.169 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.169 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.169 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2
21.169 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
21.169 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.169 * [backup-simplify]: Simplify 0.5 into 0.5
21.169 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.169 * [backup-simplify]: Simplify phi1 into phi1
21.169 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.169 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.169 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.169 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2
21.169 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
21.169 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.169 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.169 * [backup-simplify]: Simplify 0.5 into 0.5
21.169 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.169 * [backup-simplify]: Simplify phi1 into phi1
21.169 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.169 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.169 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.169 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.169 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.169 * [backup-simplify]: Simplify 0 into 0
21.169 * [backup-simplify]: Simplify 1 into 1
21.169 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
21.169 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in lambda2
21.169 * [taylor]: Taking taylor expansion of 2 in lambda2
21.169 * [backup-simplify]: Simplify 2 into 2
21.169 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
21.169 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.169 * [backup-simplify]: Simplify phi2 into phi2
21.169 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.170 * [backup-simplify]: Simplify phi1 into phi1
21.170 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
21.170 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda2
21.170 * [taylor]: Taking taylor expansion of 2 in lambda2
21.170 * [backup-simplify]: Simplify 2 into 2
21.170 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda2
21.170 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
21.170 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.170 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.170 * [backup-simplify]: Simplify 0.5 into 0.5
21.170 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.170 * [backup-simplify]: Simplify phi2 into phi2
21.170 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.170 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.170 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.170 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda2
21.170 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
21.170 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
21.170 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.170 * [backup-simplify]: Simplify 0.5 into 0.5
21.170 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.170 * [backup-simplify]: Simplify phi2 into phi2
21.170 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
21.170 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
21.170 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
21.170 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda2
21.170 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
21.170 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.170 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.170 * [backup-simplify]: Simplify 0.5 into 0.5
21.170 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.170 * [backup-simplify]: Simplify phi1 into phi1
21.170 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.170 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.170 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.170 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda2
21.170 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
21.171 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
21.171 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.171 * [backup-simplify]: Simplify 0.5 into 0.5
21.171 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.171 * [backup-simplify]: Simplify phi1 into phi1
21.171 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.171 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.171 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.171 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.171 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.171 * [backup-simplify]: Simplify lambda1 into lambda1
21.171 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
21.171 * [taylor]: Taking taylor expansion of 2 in lambda2
21.171 * [backup-simplify]: Simplify 2 into 2
21.171 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
21.171 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.171 * [backup-simplify]: Simplify 0 into 0
21.171 * [backup-simplify]: Simplify 1 into 1
21.171 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
21.171 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
21.171 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
21.171 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
21.171 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.171 * [backup-simplify]: Simplify 0.5 into 0.5
21.171 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
21.171 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.171 * [backup-simplify]: Simplify phi2 into phi2
21.171 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.171 * [backup-simplify]: Simplify phi1 into phi1
21.171 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
21.171 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
21.171 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
21.171 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
21.171 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
21.171 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
21.172 * [backup-simplify]: Simplify (- 0) into 0
21.172 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
21.172 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.172 * [backup-simplify]: Simplify lambda1 into lambda1
21.172 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
21.172 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
21.172 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.172 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))
21.173 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))
21.173 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
21.173 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.173 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
21.173 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.173 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.173 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.174 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))
21.174 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
21.175 * [backup-simplify]: Simplify (+ 0 (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))
21.175 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))
21.176 * [backup-simplify]: Simplify (+ (pow phi2 2) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (pow phi1 2))) into (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))
21.177 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))))
21.177 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
21.177 * [backup-simplify]: Simplify (* 2 (* phi2 phi1)) into (* 2 (* phi2 phi1))
21.177 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
21.177 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
21.177 * [backup-simplify]: Simplify (- 0) into 0
21.177 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
21.177 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
21.177 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
21.178 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
21.178 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.178 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.178 * [backup-simplify]: Simplify (- 0) into 0
21.178 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.178 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.178 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.178 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.178 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.178 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
21.179 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
21.179 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.179 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
21.179 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
21.179 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
21.180 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
21.180 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
21.180 * [backup-simplify]: Simplify (* 2 0) into 0
21.181 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
21.181 * [backup-simplify]: Simplify (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))
21.182 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))
21.182 * [backup-simplify]: Simplify (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))
21.184 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (- (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))
21.187 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) into (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))
21.188 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.188 * [backup-simplify]: Simplify (+ 0) into 0
21.189 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.189 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.190 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.191 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.191 * [backup-simplify]: Simplify (+ 0 0) into 0
21.191 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0
21.192 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
21.192 * [backup-simplify]: Simplify (+ 0) into 0
21.193 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
21.193 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
21.194 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.194 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
21.195 * [backup-simplify]: Simplify (+ 0 0) into 0
21.195 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
21.196 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
21.196 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
21.196 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
21.196 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.196 * [backup-simplify]: Simplify (+ 0) into 0
21.197 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.198 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.198 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.199 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.200 * [backup-simplify]: Simplify (- 0) into 0
21.200 * [backup-simplify]: Simplify (+ 0 0) into 0
21.200 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
21.201 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
21.201 * [backup-simplify]: Simplify (+ 0) into 0
21.201 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
21.201 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
21.202 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.202 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
21.202 * [backup-simplify]: Simplify (- 0) into 0
21.203 * [backup-simplify]: Simplify (+ 0 0) into 0
21.203 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
21.203 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
21.204 * [backup-simplify]: Simplify (+ 0 0) into 0
21.204 * [backup-simplify]: Simplify (+ 0 0) into 0
21.204 * [backup-simplify]: Simplify (+ 0 0) into 0
21.204 * [backup-simplify]: Simplify (+ 0 0) into 0
21.205 * [backup-simplify]: Simplify (+ 0 0) into 0
21.205 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
21.205 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* phi2 phi1))) into 0
21.205 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.205 * [backup-simplify]: Simplify (+ 0) into 0
21.206 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.206 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.206 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.207 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.207 * [backup-simplify]: Simplify (+ 0 0) into 0
21.207 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0
21.207 * [backup-simplify]: Simplify (+ 0) into 0
21.208 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.208 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.208 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.209 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.209 * [backup-simplify]: Simplify (- 0) into 0
21.209 * [backup-simplify]: Simplify (+ 0 0) into 0
21.209 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.210 * [backup-simplify]: Simplify (+ 0) into 0
21.210 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
21.210 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
21.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.211 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
21.211 * [backup-simplify]: Simplify (+ 0 0) into 0
21.211 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0
21.212 * [backup-simplify]: Simplify (+ 0) into 0
21.212 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
21.212 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
21.213 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.213 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
21.213 * [backup-simplify]: Simplify (- 0) into 0
21.214 * [backup-simplify]: Simplify (+ 0 0) into 0
21.214 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0
21.215 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into 0
21.215 * [backup-simplify]: Simplify (+ 0) into 0
21.215 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
21.215 * [backup-simplify]: Simplify (+ 0 0) into 0
21.216 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
21.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.216 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
21.217 * [backup-simplify]: Simplify (- 0) into 0
21.217 * [backup-simplify]: Simplify (+ 0 0) into 0
21.217 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
21.217 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
21.218 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
21.218 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
21.218 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
21.219 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
21.219 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
21.219 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
21.219 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
21.221 * [backup-simplify]: Simplify (/ (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))) into (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))))
21.222 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) in phi2
21.222 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) in phi2
21.222 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2
21.222 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.222 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
21.222 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.222 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.222 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.222 * [backup-simplify]: Simplify 0.5 into 0.5
21.222 * [taylor]: Taking taylor expansion of phi2 in phi2
21.222 * [backup-simplify]: Simplify 0 into 0
21.222 * [backup-simplify]: Simplify 1 into 1
21.222 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.223 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.225 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.225 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.225 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
21.225 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.225 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.225 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.225 * [backup-simplify]: Simplify 0.5 into 0.5
21.225 * [taylor]: Taking taylor expansion of phi1 in phi2
21.225 * [backup-simplify]: Simplify phi1 into phi1
21.225 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.225 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.225 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.225 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.225 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.225 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.225 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.225 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.225 * [backup-simplify]: Simplify lambda1 into lambda1
21.225 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2
21.225 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
21.225 * [taylor]: Taking taylor expansion of phi1 in phi2
21.225 * [backup-simplify]: Simplify phi1 into phi1
21.225 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2
21.225 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
21.225 * [taylor]: Taking taylor expansion of phi2 in phi2
21.225 * [backup-simplify]: Simplify 0 into 0
21.225 * [backup-simplify]: Simplify 1 into 1
21.225 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.226 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
21.226 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.226 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.226 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.226 * [backup-simplify]: Simplify 0.5 into 0.5
21.226 * [taylor]: Taking taylor expansion of phi2 in phi2
21.226 * [backup-simplify]: Simplify 0 into 0
21.226 * [backup-simplify]: Simplify 1 into 1
21.226 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.227 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.227 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.227 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
21.227 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.227 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.227 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.227 * [backup-simplify]: Simplify 0.5 into 0.5
21.227 * [taylor]: Taking taylor expansion of phi1 in phi2
21.227 * [backup-simplify]: Simplify phi1 into phi1
21.227 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.227 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.227 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.227 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.227 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.227 * [backup-simplify]: Simplify (- 0) into 0
21.228 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.228 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.228 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.228 * [backup-simplify]: Simplify lambda1 into lambda1
21.228 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) in phi2
21.228 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
21.228 * [taylor]: Taking taylor expansion of 2 in phi2
21.228 * [backup-simplify]: Simplify 2 into 2
21.228 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
21.228 * [taylor]: Taking taylor expansion of phi2 in phi2
21.228 * [backup-simplify]: Simplify 0 into 0
21.228 * [backup-simplify]: Simplify 1 into 1
21.228 * [taylor]: Taking taylor expansion of phi1 in phi2
21.228 * [backup-simplify]: Simplify phi1 into phi1
21.228 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2
21.228 * [taylor]: Taking taylor expansion of 2 in phi2
21.228 * [backup-simplify]: Simplify 2 into 2
21.228 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2
21.228 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.228 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.228 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.228 * [backup-simplify]: Simplify 0.5 into 0.5
21.228 * [taylor]: Taking taylor expansion of phi2 in phi2
21.228 * [backup-simplify]: Simplify 0 into 0
21.228 * [backup-simplify]: Simplify 1 into 1
21.228 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.229 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.229 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2
21.229 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.229 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.229 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.229 * [backup-simplify]: Simplify 0.5 into 0.5
21.229 * [taylor]: Taking taylor expansion of phi2 in phi2
21.229 * [backup-simplify]: Simplify 0 into 0
21.229 * [backup-simplify]: Simplify 1 into 1
21.230 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.230 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.230 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2
21.230 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.230 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.230 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.230 * [backup-simplify]: Simplify 0.5 into 0.5
21.231 * [taylor]: Taking taylor expansion of phi1 in phi2
21.231 * [backup-simplify]: Simplify phi1 into phi1
21.231 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.231 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.231 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.231 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2
21.231 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.231 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.231 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.231 * [backup-simplify]: Simplify 0.5 into 0.5
21.231 * [taylor]: Taking taylor expansion of phi1 in phi2
21.231 * [backup-simplify]: Simplify phi1 into phi1
21.231 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.231 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.231 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.231 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.231 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.231 * [backup-simplify]: Simplify lambda1 into lambda1
21.231 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.231 * [backup-simplify]: Simplify (* 1 1) into 1
21.231 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.231 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.232 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.232 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.232 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.232 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.233 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.233 * [backup-simplify]: Simplify (* 0 phi1) into 0
21.234 * [backup-simplify]: Simplify (* 2 0) into 0
21.234 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.234 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.234 * [backup-simplify]: Simplify (- 0) into 0
21.234 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.234 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.235 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.235 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.235 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.235 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
21.235 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
21.236 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.236 * [backup-simplify]: Simplify (* 1 0) into 0
21.237 * [backup-simplify]: Simplify (* 2 0) into 0
21.237 * [backup-simplify]: Simplify (+ 0 0) into 0
21.237 * [backup-simplify]: Simplify (- 0) into 0
21.238 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.238 * [backup-simplify]: Simplify (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.239 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
21.239 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.239 * [backup-simplify]: Simplify (+ 0) into 0
21.240 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.240 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.241 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.241 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.242 * [backup-simplify]: Simplify (- 0) into 0
21.242 * [backup-simplify]: Simplify (+ 0 0) into 0
21.242 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
21.243 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
21.243 * [backup-simplify]: Simplify (+ 0) into 0
21.244 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.245 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
21.245 * [backup-simplify]: Simplify (+ 0 0) into 0
21.245 * [backup-simplify]: Simplify (+ 0 0) into 0
21.245 * [backup-simplify]: Simplify (+ 0 0) into 0
21.246 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
21.246 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
21.246 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.246 * [backup-simplify]: Simplify (+ 0) into 0
21.246 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.247 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.247 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.248 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.248 * [backup-simplify]: Simplify (+ 0 0) into 0
21.248 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0
21.248 * [backup-simplify]: Simplify (+ 0) into 0
21.249 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.249 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.249 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.250 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.250 * [backup-simplify]: Simplify (- 0) into 0
21.250 * [backup-simplify]: Simplify (+ 0 0) into 0
21.250 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.252 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.252 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.253 * [backup-simplify]: Simplify (+ 0) into 0
21.253 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.254 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.254 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))
21.254 * [backup-simplify]: Simplify (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
21.255 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) into (- (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
21.255 * [backup-simplify]: Simplify (/ (- (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))))
21.255 * [taylor]: Taking taylor expansion of (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.255 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.255 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.255 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.256 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.256 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.256 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.256 * [backup-simplify]: Simplify 0.5 into 0.5
21.256 * [taylor]: Taking taylor expansion of phi1 in phi1
21.256 * [backup-simplify]: Simplify 0 into 0
21.256 * [backup-simplify]: Simplify 1 into 1
21.256 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.257 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.257 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.257 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.257 * [backup-simplify]: Simplify lambda1 into lambda1
21.257 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.257 * [taylor]: Taking taylor expansion of phi1 in phi1
21.257 * [backup-simplify]: Simplify 0 into 0
21.257 * [backup-simplify]: Simplify 1 into 1
21.257 * [backup-simplify]: Simplify (* 1 1) into 1
21.257 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.257 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.258 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.258 * [backup-simplify]: Simplify (sqrt (pow lambda1 2)) into lambda1
21.258 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.258 * [backup-simplify]: Simplify (+ 0) into 0
21.258 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.259 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
21.259 * [backup-simplify]: Simplify (+ 0 0) into 0
21.259 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (pow lambda1 2)))) into 0
21.259 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.259 * [backup-simplify]: Simplify 0 into 0
21.259 * [backup-simplify]: Simplify 1 into 1
21.259 * [backup-simplify]: Simplify 0 into 0
21.259 * [taylor]: Taking taylor expansion of (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))))) in phi2
21.259 * [taylor]: Taking taylor expansion of -1 in phi2
21.259 * [backup-simplify]: Simplify -1 into -1
21.259 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))) in phi2
21.259 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
21.259 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
21.259 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
21.259 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
21.259 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.259 * [backup-simplify]: Simplify 0.5 into 0.5
21.259 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
21.259 * [taylor]: Taking taylor expansion of phi2 in phi2
21.259 * [backup-simplify]: Simplify 0 into 0
21.259 * [backup-simplify]: Simplify 1 into 1
21.259 * [taylor]: Taking taylor expansion of phi1 in phi2
21.259 * [backup-simplify]: Simplify phi1 into phi1
21.260 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
21.260 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.260 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.260 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.260 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.260 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.260 * [backup-simplify]: Simplify (- 0) into 0
21.260 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.260 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.260 * [backup-simplify]: Simplify lambda1 into lambda1
21.260 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))) in phi2
21.260 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) in phi2
21.260 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) in phi2
21.260 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2
21.260 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.260 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
21.260 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.260 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.260 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.260 * [backup-simplify]: Simplify 0.5 into 0.5
21.260 * [taylor]: Taking taylor expansion of phi2 in phi2
21.260 * [backup-simplify]: Simplify 0 into 0
21.260 * [backup-simplify]: Simplify 1 into 1
21.261 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.262 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.263 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.263 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
21.263 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.263 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.263 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.263 * [backup-simplify]: Simplify 0.5 into 0.5
21.263 * [taylor]: Taking taylor expansion of phi1 in phi2
21.263 * [backup-simplify]: Simplify phi1 into phi1
21.263 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.263 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.263 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.263 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.263 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.264 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.264 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.264 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.264 * [backup-simplify]: Simplify lambda1 into lambda1
21.264 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2
21.264 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
21.264 * [taylor]: Taking taylor expansion of phi1 in phi2
21.264 * [backup-simplify]: Simplify phi1 into phi1
21.264 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2
21.264 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
21.264 * [taylor]: Taking taylor expansion of phi2 in phi2
21.264 * [backup-simplify]: Simplify 0 into 0
21.264 * [backup-simplify]: Simplify 1 into 1
21.264 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.264 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
21.264 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.264 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.264 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.264 * [backup-simplify]: Simplify 0.5 into 0.5
21.264 * [taylor]: Taking taylor expansion of phi2 in phi2
21.264 * [backup-simplify]: Simplify 0 into 0
21.264 * [backup-simplify]: Simplify 1 into 1
21.269 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.270 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.270 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.270 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
21.270 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.270 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.270 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.270 * [backup-simplify]: Simplify 0.5 into 0.5
21.270 * [taylor]: Taking taylor expansion of phi1 in phi2
21.270 * [backup-simplify]: Simplify phi1 into phi1
21.270 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.270 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.270 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.270 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.270 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.271 * [backup-simplify]: Simplify (- 0) into 0
21.271 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.271 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.271 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.271 * [backup-simplify]: Simplify lambda1 into lambda1
21.271 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) in phi2
21.271 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
21.271 * [taylor]: Taking taylor expansion of 2 in phi2
21.271 * [backup-simplify]: Simplify 2 into 2
21.271 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
21.271 * [taylor]: Taking taylor expansion of phi2 in phi2
21.271 * [backup-simplify]: Simplify 0 into 0
21.271 * [backup-simplify]: Simplify 1 into 1
21.271 * [taylor]: Taking taylor expansion of phi1 in phi2
21.271 * [backup-simplify]: Simplify phi1 into phi1
21.271 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2
21.271 * [taylor]: Taking taylor expansion of 2 in phi2
21.271 * [backup-simplify]: Simplify 2 into 2
21.271 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2
21.271 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.271 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.271 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.271 * [backup-simplify]: Simplify 0.5 into 0.5
21.271 * [taylor]: Taking taylor expansion of phi2 in phi2
21.271 * [backup-simplify]: Simplify 0 into 0
21.271 * [backup-simplify]: Simplify 1 into 1
21.271 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.272 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.272 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2
21.272 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.272 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.272 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.272 * [backup-simplify]: Simplify 0.5 into 0.5
21.273 * [taylor]: Taking taylor expansion of phi2 in phi2
21.273 * [backup-simplify]: Simplify 0 into 0
21.273 * [backup-simplify]: Simplify 1 into 1
21.273 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.275 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.275 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2
21.275 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.275 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.275 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.275 * [backup-simplify]: Simplify 0.5 into 0.5
21.275 * [taylor]: Taking taylor expansion of phi1 in phi2
21.275 * [backup-simplify]: Simplify phi1 into phi1
21.275 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.275 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.275 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.275 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2
21.275 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.275 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.275 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.275 * [backup-simplify]: Simplify 0.5 into 0.5
21.275 * [taylor]: Taking taylor expansion of phi1 in phi2
21.275 * [backup-simplify]: Simplify phi1 into phi1
21.275 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.276 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.276 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.276 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.276 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.276 * [backup-simplify]: Simplify lambda1 into lambda1
21.276 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.276 * [backup-simplify]: Simplify (* 1 1) into 1
21.277 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.277 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.277 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.277 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.278 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.278 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.279 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.279 * [backup-simplify]: Simplify (* 0 phi1) into 0
21.279 * [backup-simplify]: Simplify (* 2 0) into 0
21.279 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.279 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.280 * [backup-simplify]: Simplify (- 0) into 0
21.280 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.280 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.280 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.280 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.280 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.280 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
21.281 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
21.281 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.282 * [backup-simplify]: Simplify (* 1 0) into 0
21.282 * [backup-simplify]: Simplify (* 2 0) into 0
21.283 * [backup-simplify]: Simplify (+ 0 0) into 0
21.283 * [backup-simplify]: Simplify (- 0) into 0
21.283 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.284 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.285 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
21.285 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
21.285 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.285 * [backup-simplify]: Simplify (+ 0) into 0
21.286 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.286 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.287 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.287 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.288 * [backup-simplify]: Simplify (- 0) into 0
21.288 * [backup-simplify]: Simplify (+ 0 0) into 0
21.288 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
21.289 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
21.289 * [backup-simplify]: Simplify (+ 0) into 0
21.290 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.290 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
21.291 * [backup-simplify]: Simplify (+ 0 0) into 0
21.291 * [backup-simplify]: Simplify (+ 0 0) into 0
21.292 * [backup-simplify]: Simplify (+ 0 0) into 0
21.292 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
21.292 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
21.292 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.293 * [backup-simplify]: Simplify (+ 0) into 0
21.293 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.294 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.295 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.295 * [backup-simplify]: Simplify (+ 0 0) into 0
21.296 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0
21.296 * [backup-simplify]: Simplify (+ 0) into 0
21.296 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.297 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.298 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.298 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.298 * [backup-simplify]: Simplify (- 0) into 0
21.299 * [backup-simplify]: Simplify (+ 0 0) into 0
21.299 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.302 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.303 * [backup-simplify]: Simplify (+ 0) into 0
21.303 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.304 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.305 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))
21.305 * [backup-simplify]: Simplify (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
21.306 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) into (- (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
21.308 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))))
21.310 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
21.311 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.311 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
21.312 * [backup-simplify]: Simplify (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
21.312 * [backup-simplify]: Simplify (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
21.313 * [taylor]: Taking taylor expansion of (* -1 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
21.313 * [taylor]: Taking taylor expansion of -1 in phi1
21.313 * [backup-simplify]: Simplify -1 into -1
21.313 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
21.313 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) lambda1) in phi1
21.313 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.313 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.313 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.313 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.313 * [backup-simplify]: Simplify 0.5 into 0.5
21.313 * [taylor]: Taking taylor expansion of phi1 in phi1
21.313 * [backup-simplify]: Simplify 0 into 0
21.313 * [backup-simplify]: Simplify 1 into 1
21.313 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.315 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.315 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.315 * [backup-simplify]: Simplify lambda1 into lambda1
21.315 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
21.315 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.315 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.315 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.315 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.315 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.315 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.315 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.315 * [backup-simplify]: Simplify 0.5 into 0.5
21.315 * [taylor]: Taking taylor expansion of phi1 in phi1
21.315 * [backup-simplify]: Simplify 0 into 0
21.315 * [backup-simplify]: Simplify 1 into 1
21.316 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.317 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.317 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.317 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.317 * [backup-simplify]: Simplify lambda1 into lambda1
21.317 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.317 * [taylor]: Taking taylor expansion of phi1 in phi1
21.317 * [backup-simplify]: Simplify 0 into 0
21.317 * [backup-simplify]: Simplify 1 into 1
21.318 * [backup-simplify]: Simplify (* 1 1) into 1
21.318 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.318 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.318 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.318 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
21.319 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
21.319 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.319 * [backup-simplify]: Simplify (+ 0) into 0
21.320 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.320 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
21.321 * [backup-simplify]: Simplify (+ 0 0) into 0
21.321 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
21.321 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
21.322 * [backup-simplify]: Simplify (* 1 1) into 1
21.322 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
21.322 * [backup-simplify]: Simplify (* lambda1 (/ 1 lambda1)) into 1
21.322 * [backup-simplify]: Simplify (* -1 1) into -1
21.322 * [taylor]: Taking taylor expansion of -1 in lambda1
21.322 * [backup-simplify]: Simplify -1 into -1
21.322 * [backup-simplify]: Simplify -1 into -1
21.323 * [taylor]: Taking taylor expansion of (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) in phi1
21.323 * [taylor]: Taking taylor expansion of -1/2 in phi1
21.323 * [backup-simplify]: Simplify -1/2 into -1/2
21.323 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) in phi1
21.323 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
21.323 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.323 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.323 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.323 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.323 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.323 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.323 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.323 * [backup-simplify]: Simplify 0.5 into 0.5
21.323 * [taylor]: Taking taylor expansion of phi1 in phi1
21.323 * [backup-simplify]: Simplify 0 into 0
21.323 * [backup-simplify]: Simplify 1 into 1
21.323 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.325 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.325 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.325 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.325 * [backup-simplify]: Simplify lambda1 into lambda1
21.325 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.325 * [taylor]: Taking taylor expansion of phi1 in phi1
21.325 * [backup-simplify]: Simplify 0 into 0
21.325 * [backup-simplify]: Simplify 1 into 1
21.325 * [backup-simplify]: Simplify (* 1 1) into 1
21.325 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.326 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.326 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.326 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
21.326 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
21.326 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.327 * [backup-simplify]: Simplify (+ 0) into 0
21.327 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.328 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
21.328 * [backup-simplify]: Simplify (+ 0 0) into 0
21.328 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
21.329 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
21.329 * [taylor]: Taking taylor expansion of (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)) in phi1
21.329 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1
21.329 * [taylor]: Taking taylor expansion of 1.0 in phi1
21.329 * [backup-simplify]: Simplify 1.0 into 1.0
21.329 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1
21.329 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.329 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.329 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.329 * [backup-simplify]: Simplify 0.5 into 0.5
21.329 * [taylor]: Taking taylor expansion of phi1 in phi1
21.329 * [backup-simplify]: Simplify 0 into 0
21.329 * [backup-simplify]: Simplify 1 into 1
21.329 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.331 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.331 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1
21.331 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
21.331 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.331 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.331 * [backup-simplify]: Simplify 0.5 into 0.5
21.331 * [taylor]: Taking taylor expansion of phi1 in phi1
21.331 * [backup-simplify]: Simplify 0 into 0
21.331 * [backup-simplify]: Simplify 1 into 1
21.331 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.333 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.333 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.333 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.333 * [backup-simplify]: Simplify lambda1 into lambda1
21.333 * [taylor]: Taking taylor expansion of (* 2 phi1) in phi1
21.333 * [taylor]: Taking taylor expansion of 2 in phi1
21.333 * [backup-simplify]: Simplify 2 into 2
21.333 * [taylor]: Taking taylor expansion of phi1 in phi1
21.333 * [backup-simplify]: Simplify 0 into 0
21.333 * [backup-simplify]: Simplify 1 into 1
21.333 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.333 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0
21.334 * [backup-simplify]: Simplify (* 1 0) into 0
21.334 * [backup-simplify]: Simplify (* 1.0 0) into 0
21.335 * [backup-simplify]: Simplify (* 2 0) into 0
21.335 * [backup-simplify]: Simplify (+ 0 0) into 0
21.335 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0
21.336 * [backup-simplify]: Simplify (* -1/2 0) into 0
21.336 * [taylor]: Taking taylor expansion of 0 in lambda1
21.336 * [backup-simplify]: Simplify 0 into 0
21.336 * [backup-simplify]: Simplify 0 into 0
21.336 * [taylor]: Taking taylor expansion of 0 in lambda1
21.336 * [backup-simplify]: Simplify 0 into 0
21.336 * [backup-simplify]: Simplify 0 into 0
21.336 * [backup-simplify]: Simplify 1 into 1
21.336 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
21.337 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.338 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.339 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
21.340 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.340 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.340 * [backup-simplify]: Simplify (+ 0 0) into 0
21.341 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))) into 0
21.342 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
21.343 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.343 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.344 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
21.345 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.345 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.345 * [backup-simplify]: Simplify (+ 0 0) into 0
21.346 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi2))))) into 0
21.346 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))))) into 0
21.347 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi2))) into 0
21.347 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
21.347 * [backup-simplify]: Simplify (* 1 1) into 1
21.347 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
21.347 * [backup-simplify]: Simplify (* 1 (pow (sin (* 0.5 phi1)) 2)) into (pow (sin (* 0.5 phi1)) 2)
21.347 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))
21.347 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
21.348 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.348 * [backup-simplify]: Simplify (* 1 1) into 1
21.348 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) 1) into (pow (cos (* 0.5 phi1)) 2)
21.348 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2))
21.348 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
21.349 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
21.349 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.350 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.350 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
21.351 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.351 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.351 * [backup-simplify]: Simplify (- 0) into 0
21.352 * [backup-simplify]: Simplify (+ 0 0) into 0
21.352 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0
21.352 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
21.353 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.353 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.354 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
21.354 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.355 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.355 * [backup-simplify]: Simplify (- 0) into 0
21.355 * [backup-simplify]: Simplify (+ 0 0) into 0
21.356 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi2))))) into 0
21.356 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into 0
21.356 * [backup-simplify]: Simplify (+ 0 0) into 0
21.357 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2))
21.357 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
21.358 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
21.358 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
21.358 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
21.358 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
21.359 * [backup-simplify]: Simplify (- 0) into 0
21.359 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
21.359 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
21.359 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
21.359 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
21.359 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.359 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.359 * [backup-simplify]: Simplify (- 0) into 0
21.359 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.359 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.359 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.360 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.360 * [backup-simplify]: Simplify (* 1 1) into 1
21.360 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.360 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))
21.360 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))
21.360 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
21.360 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))
21.361 * [backup-simplify]: Simplify (+ (* phi2 0) (+ (* 0 0) (* 0 phi1))) into 0
21.361 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* phi2 phi1)))) into 0
21.362 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
21.362 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.363 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.363 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
21.364 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.364 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.364 * [backup-simplify]: Simplify (+ 0 0) into 0
21.365 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
21.365 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.366 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.366 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
21.367 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.367 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.367 * [backup-simplify]: Simplify (- 0) into 0
21.367 * [backup-simplify]: Simplify (+ 0 0) into 0
21.368 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0
21.368 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.369 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.369 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
21.370 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.370 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.370 * [backup-simplify]: Simplify (+ 0 0) into 0
21.371 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0
21.372 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.372 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
21.373 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
21.373 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.373 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
21.374 * [backup-simplify]: Simplify (- 0) into 0
21.374 * [backup-simplify]: Simplify (+ 0 0) into 0
21.375 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into 0
21.376 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into 0
21.376 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.377 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
21.378 * [backup-simplify]: Simplify (+ 0 0) into 0
21.378 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
21.379 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.380 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
21.380 * [backup-simplify]: Simplify (- 0) into 0
21.381 * [backup-simplify]: Simplify (+ 0 0) into 0
21.381 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
21.382 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 lambda1))) into 0
21.383 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into 0
21.385 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0))) into 0
21.385 * [backup-simplify]: Simplify (+ 0 0) into 0
21.385 * [backup-simplify]: Simplify (+ 0 0) into 0
21.386 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))
21.386 * [backup-simplify]: Simplify (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) into (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))
21.388 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))
21.398 * [backup-simplify]: Simplify (/ (- (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) (pow (* -1 (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi1 2) (+ (pow phi2 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))))))
21.398 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))))) in phi2
21.399 * [taylor]: Taking taylor expansion of 1/2 in phi2
21.399 * [backup-simplify]: Simplify 1/2 into 1/2
21.399 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))) (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))))) in phi2
21.399 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))) in phi2
21.399 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) in phi2
21.399 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) in phi2
21.399 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2
21.399 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.399 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
21.399 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.399 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.399 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.399 * [backup-simplify]: Simplify 0.5 into 0.5
21.399 * [taylor]: Taking taylor expansion of phi2 in phi2
21.399 * [backup-simplify]: Simplify 0 into 0
21.399 * [backup-simplify]: Simplify 1 into 1
21.400 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.401 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.404 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.404 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
21.404 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.404 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.404 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.404 * [backup-simplify]: Simplify 0.5 into 0.5
21.404 * [taylor]: Taking taylor expansion of phi1 in phi2
21.404 * [backup-simplify]: Simplify phi1 into phi1
21.404 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.404 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.404 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.404 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.404 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.404 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.404 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.404 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.405 * [backup-simplify]: Simplify lambda1 into lambda1
21.405 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2
21.405 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
21.405 * [taylor]: Taking taylor expansion of phi2 in phi2
21.405 * [backup-simplify]: Simplify 0 into 0
21.405 * [backup-simplify]: Simplify 1 into 1
21.405 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2
21.405 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
21.405 * [taylor]: Taking taylor expansion of phi1 in phi2
21.405 * [backup-simplify]: Simplify phi1 into phi1
21.405 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.405 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
21.405 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.405 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.405 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.405 * [backup-simplify]: Simplify 0.5 into 0.5
21.405 * [taylor]: Taking taylor expansion of phi2 in phi2
21.405 * [backup-simplify]: Simplify 0 into 0
21.405 * [backup-simplify]: Simplify 1 into 1
21.411 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.413 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.413 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.413 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
21.414 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.414 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.414 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.414 * [backup-simplify]: Simplify 0.5 into 0.5
21.414 * [taylor]: Taking taylor expansion of phi1 in phi2
21.414 * [backup-simplify]: Simplify phi1 into phi1
21.414 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.414 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.414 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.414 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.414 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.415 * [backup-simplify]: Simplify (- 0) into 0
21.415 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.415 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.415 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.415 * [backup-simplify]: Simplify lambda1 into lambda1
21.415 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) in phi2
21.415 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
21.415 * [taylor]: Taking taylor expansion of 2 in phi2
21.415 * [backup-simplify]: Simplify 2 into 2
21.415 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
21.415 * [taylor]: Taking taylor expansion of phi2 in phi2
21.415 * [backup-simplify]: Simplify 0 into 0
21.415 * [backup-simplify]: Simplify 1 into 1
21.415 * [taylor]: Taking taylor expansion of phi1 in phi2
21.415 * [backup-simplify]: Simplify phi1 into phi1
21.415 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2
21.415 * [taylor]: Taking taylor expansion of 2 in phi2
21.415 * [backup-simplify]: Simplify 2 into 2
21.415 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2
21.415 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.415 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.415 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.415 * [backup-simplify]: Simplify 0.5 into 0.5
21.415 * [taylor]: Taking taylor expansion of phi2 in phi2
21.415 * [backup-simplify]: Simplify 0 into 0
21.415 * [backup-simplify]: Simplify 1 into 1
21.416 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.417 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.417 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2
21.417 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.417 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.418 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.418 * [backup-simplify]: Simplify 0.5 into 0.5
21.418 * [taylor]: Taking taylor expansion of phi2 in phi2
21.418 * [backup-simplify]: Simplify 0 into 0
21.418 * [backup-simplify]: Simplify 1 into 1
21.418 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.419 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.419 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2
21.420 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.420 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.420 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.420 * [backup-simplify]: Simplify 0.5 into 0.5
21.420 * [taylor]: Taking taylor expansion of phi1 in phi2
21.420 * [backup-simplify]: Simplify phi1 into phi1
21.420 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.420 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.420 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.420 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2
21.420 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.420 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.420 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.420 * [backup-simplify]: Simplify 0.5 into 0.5
21.420 * [taylor]: Taking taylor expansion of phi1 in phi2
21.420 * [backup-simplify]: Simplify phi1 into phi1
21.420 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.420 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.420 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.420 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.420 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.420 * [backup-simplify]: Simplify lambda1 into lambda1
21.420 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.421 * [backup-simplify]: Simplify (* 1 1) into 1
21.421 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.421 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.421 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.422 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.422 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.423 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.423 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.423 * [backup-simplify]: Simplify (* 0 phi1) into 0
21.427 * [backup-simplify]: Simplify (* 2 0) into 0
21.427 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.427 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.428 * [backup-simplify]: Simplify (- 0) into 0
21.428 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.428 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.428 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.428 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.428 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.428 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
21.429 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
21.429 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.429 * [backup-simplify]: Simplify (* 1 0) into 0
21.430 * [backup-simplify]: Simplify (* 2 0) into 0
21.430 * [backup-simplify]: Simplify (+ 0 0) into 0
21.431 * [backup-simplify]: Simplify (- 0) into 0
21.431 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.432 * [backup-simplify]: Simplify (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.432 * [backup-simplify]: Simplify (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
21.432 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
21.432 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.433 * [backup-simplify]: Simplify (+ 0) into 0
21.433 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.434 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.434 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.435 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.436 * [backup-simplify]: Simplify (- 0) into 0
21.436 * [backup-simplify]: Simplify (+ 0 0) into 0
21.436 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
21.437 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
21.437 * [backup-simplify]: Simplify (+ 0) into 0
21.437 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.438 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
21.439 * [backup-simplify]: Simplify (+ 0 0) into 0
21.439 * [backup-simplify]: Simplify (+ 0 0) into 0
21.439 * [backup-simplify]: Simplify (+ 0 0) into 0
21.440 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
21.440 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 0 0)) into (* 2 phi1)
21.440 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.440 * [backup-simplify]: Simplify (+ 0) into 0
21.441 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
21.441 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.442 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.443 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
21.443 * [backup-simplify]: Simplify (+ 0 0) into 0
21.443 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0
21.444 * [backup-simplify]: Simplify (+ 0) into 0
21.444 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.444 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
21.445 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.446 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
21.446 * [backup-simplify]: Simplify (- 0) into 0
21.446 * [backup-simplify]: Simplify (+ 0 0) into 0
21.447 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.449 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.450 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.450 * [backup-simplify]: Simplify (+ 0) into 0
21.451 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.452 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
21.452 * [backup-simplify]: Simplify (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))
21.453 * [backup-simplify]: Simplify (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1))) into (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))
21.453 * [backup-simplify]: Simplify (+ 0 (- (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) into (- (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
21.455 * [backup-simplify]: Simplify (- (+ (* (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (/ (- (+ (* 2 phi1) (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))))
21.458 * [backup-simplify]: Simplify (/ (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (* 2 (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
21.458 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))))) in phi2
21.458 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) in phi2
21.458 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi2
21.458 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
21.458 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.458 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.458 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.458 * [backup-simplify]: Simplify 0.5 into 0.5
21.458 * [taylor]: Taking taylor expansion of phi2 in phi2
21.458 * [backup-simplify]: Simplify 0 into 0
21.458 * [backup-simplify]: Simplify 1 into 1
21.459 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.460 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.460 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
21.460 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.460 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.460 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.460 * [backup-simplify]: Simplify 0.5 into 0.5
21.460 * [taylor]: Taking taylor expansion of phi1 in phi2
21.460 * [backup-simplify]: Simplify phi1 into phi1
21.460 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.460 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.460 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.461 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.461 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.461 * [backup-simplify]: Simplify (- 0) into 0
21.461 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.461 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi2
21.461 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
21.461 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.461 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.461 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.461 * [backup-simplify]: Simplify 0.5 into 0.5
21.461 * [taylor]: Taking taylor expansion of phi2 in phi2
21.461 * [backup-simplify]: Simplify 0 into 0
21.461 * [backup-simplify]: Simplify 1 into 1
21.462 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.463 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.465 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
21.465 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.465 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.465 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.465 * [backup-simplify]: Simplify 0.5 into 0.5
21.466 * [taylor]: Taking taylor expansion of phi1 in phi2
21.466 * [backup-simplify]: Simplify phi1 into phi1
21.466 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.466 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.466 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.466 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.466 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.466 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.466 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))))) in phi2
21.466 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) in phi2
21.466 * [taylor]: Taking taylor expansion of 2 in phi2
21.466 * [backup-simplify]: Simplify 2 into 2
21.466 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) in phi2
21.466 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.466 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.466 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.466 * [backup-simplify]: Simplify 0.5 into 0.5
21.466 * [taylor]: Taking taylor expansion of phi2 in phi2
21.466 * [backup-simplify]: Simplify 0 into 0
21.466 * [backup-simplify]: Simplify 1 into 1
21.467 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.468 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.468 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) in phi2
21.468 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.468 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.468 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.468 * [backup-simplify]: Simplify 0.5 into 0.5
21.468 * [taylor]: Taking taylor expansion of phi2 in phi2
21.468 * [backup-simplify]: Simplify 0 into 0
21.468 * [backup-simplify]: Simplify 1 into 1
21.469 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.470 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.470 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) in phi2
21.470 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.470 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.470 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.470 * [backup-simplify]: Simplify 0.5 into 0.5
21.470 * [taylor]: Taking taylor expansion of phi1 in phi2
21.470 * [backup-simplify]: Simplify phi1 into phi1
21.470 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.470 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.471 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.471 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.471 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.471 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.471 * [backup-simplify]: Simplify 0.5 into 0.5
21.471 * [taylor]: Taking taylor expansion of phi1 in phi2
21.471 * [backup-simplify]: Simplify phi1 into phi1
21.471 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.471 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.471 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.471 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))))) in phi2
21.471 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 4) (pow lambda1 2)) in phi2
21.471 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 4) in phi2
21.471 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
21.471 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
21.471 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.471 * [backup-simplify]: Simplify 0.5 into 0.5
21.471 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
21.471 * [taylor]: Taking taylor expansion of phi2 in phi2
21.471 * [backup-simplify]: Simplify 0 into 0
21.471 * [backup-simplify]: Simplify 1 into 1
21.471 * [taylor]: Taking taylor expansion of phi1 in phi2
21.471 * [backup-simplify]: Simplify phi1 into phi1
21.471 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
21.471 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.471 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.472 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.472 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.472 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.472 * [backup-simplify]: Simplify (- 0) into 0
21.472 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.472 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.472 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.472 * [backup-simplify]: Simplify lambda1 into lambda1
21.472 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) in phi2
21.472 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2
21.472 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.472 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
21.473 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.473 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.473 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.473 * [backup-simplify]: Simplify 0.5 into 0.5
21.473 * [taylor]: Taking taylor expansion of phi2 in phi2
21.473 * [backup-simplify]: Simplify 0 into 0
21.473 * [backup-simplify]: Simplify 1 into 1
21.473 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.474 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.477 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.477 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
21.477 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.477 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.477 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.477 * [backup-simplify]: Simplify 0.5 into 0.5
21.477 * [taylor]: Taking taylor expansion of phi1 in phi2
21.477 * [backup-simplify]: Simplify phi1 into phi1
21.477 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.477 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.477 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.477 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.477 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.477 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.477 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.477 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.477 * [backup-simplify]: Simplify lambda1 into lambda1
21.477 * [taylor]: Taking taylor expansion of (+ (pow phi2 2) (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2
21.477 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
21.477 * [taylor]: Taking taylor expansion of phi2 in phi2
21.477 * [backup-simplify]: Simplify 0 into 0
21.477 * [backup-simplify]: Simplify 1 into 1
21.477 * [taylor]: Taking taylor expansion of (+ (pow phi1 2) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2
21.477 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
21.478 * [taylor]: Taking taylor expansion of phi1 in phi2
21.478 * [backup-simplify]: Simplify phi1 into phi1
21.478 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
21.478 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
21.478 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.478 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.478 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.478 * [backup-simplify]: Simplify 0.5 into 0.5
21.478 * [taylor]: Taking taylor expansion of phi2 in phi2
21.478 * [backup-simplify]: Simplify 0 into 0
21.478 * [backup-simplify]: Simplify 1 into 1
21.478 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.479 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.480 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
21.480 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
21.480 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.480 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.480 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.480 * [backup-simplify]: Simplify 0.5 into 0.5
21.480 * [taylor]: Taking taylor expansion of phi1 in phi2
21.480 * [backup-simplify]: Simplify phi1 into phi1
21.480 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.480 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.480 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.480 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.480 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.480 * [backup-simplify]: Simplify (- 0) into 0
21.481 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.481 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.481 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.481 * [backup-simplify]: Simplify lambda1 into lambda1
21.481 * [taylor]: Taking taylor expansion of (+ (* 2 (* phi2 phi1)) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) in phi2
21.481 * [taylor]: Taking taylor expansion of (* 2 (* phi2 phi1)) in phi2
21.481 * [taylor]: Taking taylor expansion of 2 in phi2
21.481 * [backup-simplify]: Simplify 2 into 2
21.481 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
21.481 * [taylor]: Taking taylor expansion of phi2 in phi2
21.481 * [backup-simplify]: Simplify 0 into 0
21.481 * [backup-simplify]: Simplify 1 into 1
21.481 * [taylor]: Taking taylor expansion of phi1 in phi2
21.481 * [backup-simplify]: Simplify phi1 into phi1
21.481 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2
21.481 * [taylor]: Taking taylor expansion of 2 in phi2
21.481 * [backup-simplify]: Simplify 2 into 2
21.481 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2
21.481 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
21.481 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.481 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.481 * [backup-simplify]: Simplify 0.5 into 0.5
21.481 * [taylor]: Taking taylor expansion of phi2 in phi2
21.481 * [backup-simplify]: Simplify 0 into 0
21.481 * [backup-simplify]: Simplify 1 into 1
21.482 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.483 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.483 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2
21.483 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
21.483 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
21.483 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.483 * [backup-simplify]: Simplify 0.5 into 0.5
21.483 * [taylor]: Taking taylor expansion of phi2 in phi2
21.483 * [backup-simplify]: Simplify 0 into 0
21.483 * [backup-simplify]: Simplify 1 into 1
21.483 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.485 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.485 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2
21.485 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
21.485 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.485 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.485 * [backup-simplify]: Simplify 0.5 into 0.5
21.485 * [taylor]: Taking taylor expansion of phi1 in phi2
21.485 * [backup-simplify]: Simplify phi1 into phi1
21.485 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.485 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.485 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.485 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2
21.485 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
21.485 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
21.485 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.485 * [backup-simplify]: Simplify 0.5 into 0.5
21.485 * [taylor]: Taking taylor expansion of phi1 in phi2
21.485 * [backup-simplify]: Simplify phi1 into phi1
21.485 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
21.486 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
21.486 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
21.486 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.486 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.486 * [backup-simplify]: Simplify lambda1 into lambda1
21.486 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.486 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 4)
21.486 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.486 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2))
21.487 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.487 * [backup-simplify]: Simplify (* 1 1) into 1
21.487 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.487 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.487 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.488 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
21.488 * [backup-simplify]: Simplify (+ (pow phi1 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.489 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.489 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.489 * [backup-simplify]: Simplify (* 0 phi1) into 0
21.490 * [backup-simplify]: Simplify (* 2 0) into 0
21.490 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.490 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.490 * [backup-simplify]: Simplify (- 0) into 0
21.490 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.491 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.491 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.491 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.491 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.491 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
21.491 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
21.492 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
21.492 * [backup-simplify]: Simplify (* 1 0) into 0
21.492 * [backup-simplify]: Simplify (* 2 0) into 0
21.493 * [backup-simplify]: Simplify (+ 0 0) into 0
21.493 * [backup-simplify]: Simplify (- 0) into 0
21.494 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 0) into (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))
21.494 * [backup-simplify]: Simplify (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) into (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.495 * [backup-simplify]: Simplify (* 1 1) into 1
21.495 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
21.496 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 2)
21.496 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2)
21.496 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
21.496 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
21.496 * [backup-simplify]: Simplify (- 0) into 0
21.497 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
21.497 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
21.497 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
21.497 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
21.497 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))
21.497 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into 0
21.498 * [backup-simplify]: Simplify (* 1 0) into 0
21.498 * [backup-simplify]: Simplify (* 2 0) into 0
21.499 * [backup-simplify]: Simplify (+ 0 (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))
21.500 * [backup-simplify]: Simplify (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) into (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
21.501 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) (- (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))
21.502 * [backup-simplify]: Simplify (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))
21.504 * [backup-simplify]: Simplify (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
21.504 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
21.504 * [taylor]: Taking taylor expansion of 1/2 in phi1
21.504 * [backup-simplify]: Simplify 1/2 into 1/2
21.504 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
21.504 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
21.504 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.504 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.504 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.504 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.504 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.504 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.504 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.504 * [backup-simplify]: Simplify 0.5 into 0.5
21.504 * [taylor]: Taking taylor expansion of phi1 in phi1
21.504 * [backup-simplify]: Simplify 0 into 0
21.504 * [backup-simplify]: Simplify 1 into 1
21.505 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.506 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.506 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.506 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.506 * [backup-simplify]: Simplify lambda1 into lambda1
21.506 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.506 * [taylor]: Taking taylor expansion of phi1 in phi1
21.506 * [backup-simplify]: Simplify 0 into 0
21.506 * [backup-simplify]: Simplify 1 into 1
21.507 * [backup-simplify]: Simplify (* 1 1) into 1
21.507 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.507 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.507 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.507 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
21.508 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
21.508 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.508 * [backup-simplify]: Simplify (+ 0) into 0
21.509 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.509 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
21.510 * [backup-simplify]: Simplify (+ 0 0) into 0
21.510 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
21.510 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
21.510 * [taylor]: Taking taylor expansion of (- (pow (cos (* 0.5 phi1)) 2) (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
21.510 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.510 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.510 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.510 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.510 * [backup-simplify]: Simplify 0.5 into 0.5
21.510 * [taylor]: Taking taylor expansion of phi1 in phi1
21.510 * [backup-simplify]: Simplify 0 into 0
21.510 * [backup-simplify]: Simplify 1 into 1
21.511 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.512 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.512 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.512 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 4) (pow lambda1 2)) in phi1
21.512 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 4) in phi1
21.512 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.512 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.512 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.512 * [backup-simplify]: Simplify 0.5 into 0.5
21.512 * [taylor]: Taking taylor expansion of phi1 in phi1
21.512 * [backup-simplify]: Simplify 0 into 0
21.512 * [backup-simplify]: Simplify 1 into 1
21.513 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.514 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.514 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.514 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.514 * [backup-simplify]: Simplify lambda1 into lambda1
21.514 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.514 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.514 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.514 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.514 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.514 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.515 * [backup-simplify]: Simplify 0.5 into 0.5
21.515 * [taylor]: Taking taylor expansion of phi1 in phi1
21.515 * [backup-simplify]: Simplify 0 into 0
21.515 * [backup-simplify]: Simplify 1 into 1
21.515 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.516 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.516 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.516 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.516 * [backup-simplify]: Simplify lambda1 into lambda1
21.516 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.516 * [taylor]: Taking taylor expansion of phi1 in phi1
21.517 * [backup-simplify]: Simplify 0 into 0
21.517 * [backup-simplify]: Simplify 1 into 1
21.517 * [backup-simplify]: Simplify (* 1 1) into 1
21.517 * [backup-simplify]: Simplify (* 1 1) into 1
21.517 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.518 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.518 * [backup-simplify]: Simplify (* 1 1) into 1
21.518 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.518 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.518 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.518 * [backup-simplify]: Simplify (/ (pow lambda1 2) (pow lambda1 2)) into 1
21.519 * [backup-simplify]: Simplify (* 1 1) into 1
21.519 * [backup-simplify]: Simplify (- 1) into -1
21.520 * [backup-simplify]: Simplify (+ 1 -1) into 0
21.520 * [backup-simplify]: Simplify (* (/ 1 lambda1) 0) into 0
21.520 * [backup-simplify]: Simplify (* 1/2 0) into 0
21.520 * [taylor]: Taking taylor expansion of 0 in lambda1
21.520 * [backup-simplify]: Simplify 0 into 0
21.520 * [backup-simplify]: Simplify 0 into 0
21.521 * [backup-simplify]: Simplify (+ 0) into 0
21.521 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
21.522 * [backup-simplify]: Simplify (+ 1 0) into 1
21.522 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
21.524 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.525 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
21.525 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
21.525 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
21.525 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
21.526 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
21.530 * [backup-simplify]: Simplify (+ (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (* 1/2 (* (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2))) (* 2 (/ phi1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 2)))) (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) into (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))
21.535 * [backup-simplify]: Simplify (+ (* -1 (- (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (* 0 (* (* (pow (cos (* 0.5 phi1)) 2) lambda1) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) into (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))))
21.535 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))))) in phi1
21.535 * [taylor]: Taking taylor expansion of (* 1.0 (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
21.535 * [taylor]: Taking taylor expansion of 1.0 in phi1
21.535 * [backup-simplify]: Simplify 1.0 into 1.0
21.535 * [taylor]: Taking taylor expansion of (* (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
21.535 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) in phi1
21.535 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.535 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.535 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.535 * [backup-simplify]: Simplify 0.5 into 0.5
21.535 * [taylor]: Taking taylor expansion of phi1 in phi1
21.535 * [backup-simplify]: Simplify 0 into 0
21.535 * [backup-simplify]: Simplify 1 into 1
21.536 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.537 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.537 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda1) in phi1
21.537 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
21.537 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.537 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.537 * [backup-simplify]: Simplify 0.5 into 0.5
21.537 * [taylor]: Taking taylor expansion of phi1 in phi1
21.537 * [backup-simplify]: Simplify 0 into 0
21.537 * [backup-simplify]: Simplify 1 into 1
21.537 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.538 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.538 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.538 * [backup-simplify]: Simplify lambda1 into lambda1
21.538 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
21.538 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.538 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.538 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.538 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.538 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.538 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.539 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.539 * [backup-simplify]: Simplify 0.5 into 0.5
21.539 * [taylor]: Taking taylor expansion of phi1 in phi1
21.539 * [backup-simplify]: Simplify 0 into 0
21.539 * [backup-simplify]: Simplify 1 into 1
21.539 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.540 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.540 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.540 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.540 * [backup-simplify]: Simplify lambda1 into lambda1
21.540 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.540 * [taylor]: Taking taylor expansion of phi1 in phi1
21.540 * [backup-simplify]: Simplify 0 into 0
21.540 * [backup-simplify]: Simplify 1 into 1
21.540 * [backup-simplify]: Simplify (* 1 1) into 1
21.540 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.540 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.540 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.541 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
21.541 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
21.541 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.541 * [backup-simplify]: Simplify (+ 0) into 0
21.541 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.542 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
21.542 * [backup-simplify]: Simplify (+ 0 0) into 0
21.542 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
21.542 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
21.543 * [taylor]: Taking taylor expansion of (+ (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))))) in phi1
21.543 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1
21.543 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* lambda1 phi1)) in phi1
21.543 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.543 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.543 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.543 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.543 * [backup-simplify]: Simplify 0.5 into 0.5
21.543 * [taylor]: Taking taylor expansion of phi1 in phi1
21.543 * [backup-simplify]: Simplify 0 into 0
21.543 * [backup-simplify]: Simplify 1 into 1
21.543 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.544 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.544 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1
21.544 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.544 * [backup-simplify]: Simplify lambda1 into lambda1
21.544 * [taylor]: Taking taylor expansion of phi1 in phi1
21.544 * [backup-simplify]: Simplify 0 into 0
21.544 * [backup-simplify]: Simplify 1 into 1
21.544 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1
21.544 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1
21.544 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1
21.544 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.544 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.544 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.544 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.544 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.544 * [backup-simplify]: Simplify 0.5 into 0.5
21.544 * [taylor]: Taking taylor expansion of phi1 in phi1
21.544 * [backup-simplify]: Simplify 0 into 0
21.544 * [backup-simplify]: Simplify 1 into 1
21.545 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.546 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.546 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.546 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.546 * [backup-simplify]: Simplify lambda1 into lambda1
21.546 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.546 * [taylor]: Taking taylor expansion of phi1 in phi1
21.546 * [backup-simplify]: Simplify 0 into 0
21.546 * [backup-simplify]: Simplify 1 into 1
21.546 * [backup-simplify]: Simplify (* 1 1) into 1
21.546 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.546 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.546 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.547 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
21.547 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6)
21.547 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6))
21.547 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3))
21.547 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.547 * [backup-simplify]: Simplify (+ 0) into 0
21.548 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.548 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
21.548 * [backup-simplify]: Simplify (+ 0 0) into 0
21.548 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0
21.549 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0
21.549 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0
21.549 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0
21.549 * [taylor]: Taking taylor expansion of (* 0.5 (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))))) in phi1
21.549 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.549 * [backup-simplify]: Simplify 0.5 into 0.5
21.549 * [taylor]: Taking taylor expansion of (* (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)))) in phi1
21.549 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 3) (* (sin (* 0.5 phi1)) (pow lambda1 3))) in phi1
21.549 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 3) in phi1
21.549 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.549 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.549 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.549 * [backup-simplify]: Simplify 0.5 into 0.5
21.549 * [taylor]: Taking taylor expansion of phi1 in phi1
21.549 * [backup-simplify]: Simplify 0 into 0
21.549 * [backup-simplify]: Simplify 1 into 1
21.549 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.550 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.550 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 3)) in phi1
21.550 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
21.550 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.550 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.550 * [backup-simplify]: Simplify 0.5 into 0.5
21.550 * [taylor]: Taking taylor expansion of phi1 in phi1
21.550 * [backup-simplify]: Simplify 0 into 0
21.550 * [backup-simplify]: Simplify 1 into 1
21.551 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.552 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.552 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi1
21.552 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.552 * [backup-simplify]: Simplify lambda1 into lambda1
21.552 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3))) in phi1
21.552 * [taylor]: Taking taylor expansion of (/ 1 (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3)) in phi1
21.552 * [taylor]: Taking taylor expansion of (pow (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) 3) in phi1
21.552 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.552 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.552 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.552 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.552 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.552 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.552 * [backup-simplify]: Simplify 0.5 into 0.5
21.552 * [taylor]: Taking taylor expansion of phi1 in phi1
21.552 * [backup-simplify]: Simplify 0 into 0
21.552 * [backup-simplify]: Simplify 1 into 1
21.552 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.553 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.553 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.553 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.553 * [backup-simplify]: Simplify lambda1 into lambda1
21.553 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.553 * [taylor]: Taking taylor expansion of phi1 in phi1
21.553 * [backup-simplify]: Simplify 0 into 0
21.553 * [backup-simplify]: Simplify 1 into 1
21.553 * [backup-simplify]: Simplify (* 1 1) into 1
21.554 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.554 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.554 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.554 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
21.554 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 4)) into (pow lambda1 6)
21.554 * [backup-simplify]: Simplify (/ 1 (pow lambda1 6)) into (/ 1 (pow lambda1 6))
21.554 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 6))) into (/ 1 (pow lambda1 3))
21.554 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.560 * [backup-simplify]: Simplify (+ 0) into 0
21.561 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.561 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
21.562 * [backup-simplify]: Simplify (+ 0 0) into 0
21.562 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 2))) into 0
21.562 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (* 0 (pow lambda1 4))) into 0
21.562 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 6)) (/ 0 (pow lambda1 6))))) into 0
21.562 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 6))))) into 0
21.562 * [backup-simplify]: Simplify (* 0 lambda1) into 0
21.563 * [backup-simplify]: Simplify (* 1 0) into 0
21.563 * [backup-simplify]: Simplify (* 0 (/ 1 lambda1)) into 0
21.563 * [backup-simplify]: Simplify (* 1.0 0) into 0
21.563 * [backup-simplify]: Simplify (* 1 1) into 1
21.563 * [backup-simplify]: Simplify (* lambda1 0) into 0
21.564 * [backup-simplify]: Simplify (* 1 0) into 0
21.564 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0
21.564 * [backup-simplify]: Simplify (* 1 1) into 1
21.564 * [backup-simplify]: Simplify (* 1 1) into 1
21.565 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.565 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
21.565 * [backup-simplify]: Simplify (* 0 (pow lambda1 3)) into 0
21.565 * [backup-simplify]: Simplify (* 1 0) into 0
21.565 * [backup-simplify]: Simplify (* 0 (/ 1 (pow lambda1 3))) into 0
21.566 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.566 * [backup-simplify]: Simplify (+ 0 0) into 0
21.566 * [backup-simplify]: Simplify (- 0) into 0
21.567 * [backup-simplify]: Simplify (+ 0 0) into 0
21.567 * [taylor]: Taking taylor expansion of 0 in lambda1
21.567 * [backup-simplify]: Simplify 0 into 0
21.567 * [backup-simplify]: Simplify 0 into 0
21.567 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25
21.567 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
21.568 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.568 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))
21.568 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))
21.569 * [backup-simplify]: Simplify (+ (* phi1 0) (+ (* 0 0) (* 0 phi1))) into 0
21.569 * [backup-simplify]: Simplify (* 1 1) into 1
21.569 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
21.570 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.571 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.572 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
21.572 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.573 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.573 * [backup-simplify]: Simplify (- 0) into 0
21.574 * [backup-simplify]: Simplify (+ 0 0) into 0
21.574 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0
21.575 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
21.577 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
21.581 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25)
21.582 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
21.582 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- 1 (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
21.583 * [backup-simplify]: Simplify (+ 0 (- 1 (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- 1 (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
21.583 * [backup-simplify]: Simplify (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (- 1 (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
21.584 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
21.585 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 phi1) (* 0 0))) into 0
21.585 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
21.585 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.586 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.587 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
21.587 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.588 * [backup-simplify]: Simplify (+ 0 0) into 0
21.588 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
21.589 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
21.589 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
21.590 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
21.590 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.590 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
21.591 * [backup-simplify]: Simplify (- 0) into 0
21.591 * [backup-simplify]: Simplify (+ 0 0) into 0
21.591 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0
21.592 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
21.592 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.593 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0
21.595 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
21.596 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* (- 0.125) 0))) into 0
21.597 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0))) into 0
21.597 * [backup-simplify]: Simplify (+ 0 0) into 0
21.597 * [backup-simplify]: Simplify (- 0) into 0
21.598 * [backup-simplify]: Simplify (+ (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 0) into (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
21.600 * [backup-simplify]: Simplify (/ (- (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (pow (* -1/2 (* (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) (* 2 phi1)))) 2) (+)) (* 2 (sqrt (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) into (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))
21.600 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
21.600 * [taylor]: Taking taylor expansion of 1/2 in phi1
21.601 * [backup-simplify]: Simplify 1/2 into 1/2
21.601 * [taylor]: Taking taylor expansion of (* (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
21.601 * [taylor]: Taking taylor expansion of (- (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))))) in phi1
21.601 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) 1) in phi1
21.601 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
21.601 * [taylor]: Taking taylor expansion of 0.25 in phi1
21.601 * [backup-simplify]: Simplify 0.25 into 0.25
21.601 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.601 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
21.601 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
21.601 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.601 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.601 * [backup-simplify]: Simplify 0.5 into 0.5
21.601 * [taylor]: Taking taylor expansion of phi1 in phi1
21.601 * [backup-simplify]: Simplify 0 into 0
21.601 * [backup-simplify]: Simplify 1 into 1
21.601 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.602 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.604 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.604 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.604 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.604 * [backup-simplify]: Simplify lambda1 into lambda1
21.604 * [taylor]: Taking taylor expansion of 1 in phi1
21.604 * [backup-simplify]: Simplify 1 into 1
21.604 * [taylor]: Taking taylor expansion of (+ (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))))) in phi1
21.604 * [taylor]: Taking taylor expansion of (* 1.0 (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
21.604 * [taylor]: Taking taylor expansion of 1.0 in phi1
21.604 * [backup-simplify]: Simplify 1.0 into 1.0
21.604 * [taylor]: Taking taylor expansion of (/ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.604 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1))) in phi1
21.604 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.604 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.604 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.604 * [backup-simplify]: Simplify 0.5 into 0.5
21.604 * [taylor]: Taking taylor expansion of phi1 in phi1
21.604 * [backup-simplify]: Simplify 0 into 0
21.604 * [backup-simplify]: Simplify 1 into 1
21.604 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.605 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.605 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (* (pow lambda1 2) phi1)) in phi1
21.605 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
21.605 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.605 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.605 * [backup-simplify]: Simplify 0.5 into 0.5
21.605 * [taylor]: Taking taylor expansion of phi1 in phi1
21.605 * [backup-simplify]: Simplify 0 into 0
21.605 * [backup-simplify]: Simplify 1 into 1
21.606 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.607 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.607 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) phi1) in phi1
21.607 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.607 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.607 * [backup-simplify]: Simplify lambda1 into lambda1
21.607 * [taylor]: Taking taylor expansion of phi1 in phi1
21.607 * [backup-simplify]: Simplify 0 into 0
21.607 * [backup-simplify]: Simplify 1 into 1
21.607 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.607 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.607 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.607 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.607 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.607 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.607 * [backup-simplify]: Simplify 0.5 into 0.5
21.607 * [taylor]: Taking taylor expansion of phi1 in phi1
21.607 * [backup-simplify]: Simplify 0 into 0
21.607 * [backup-simplify]: Simplify 1 into 1
21.607 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.608 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.608 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.608 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.609 * [backup-simplify]: Simplify lambda1 into lambda1
21.609 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.609 * [taylor]: Taking taylor expansion of phi1 in phi1
21.609 * [backup-simplify]: Simplify 0 into 0
21.609 * [backup-simplify]: Simplify 1 into 1
21.609 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.609 * [backup-simplify]: Simplify (* (pow lambda1 2) 0) into 0
21.609 * [backup-simplify]: Simplify (* 0 0) into 0
21.610 * [backup-simplify]: Simplify (* 1 0) into 0
21.610 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.610 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 1) (* 0 0)) into (pow lambda1 2)
21.613 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.613 * [backup-simplify]: Simplify (+ (* 0 (pow lambda1 2)) (* 0.5 0)) into 0
21.614 * [backup-simplify]: Simplify (+ 0) into 0
21.614 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 0)) into 0
21.615 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
21.616 * [backup-simplify]: Simplify (+ (* (pow lambda1 2) 0) (+ (* 0 1) (* 0 0))) into 0
21.617 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
21.618 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
21.619 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 (pow lambda1 2)) (* 0 0))) into (* 0.5 (pow lambda1 2))
21.622 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
21.623 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (+ (* 0 0) (* (- 0.125) 0))) into (* 0.5 (pow lambda1 2))
21.624 * [backup-simplify]: Simplify (* 1 1) into 1
21.624 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.624 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.624 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.625 * [backup-simplify]: Simplify (/ (* 0.5 (pow lambda1 2)) (pow lambda1 2)) into 0.5
21.625 * [taylor]: Taking taylor expansion of (+ (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))))) in phi1
21.625 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
21.625 * [taylor]: Taking taylor expansion of 0.25 in phi1
21.625 * [backup-simplify]: Simplify 0.25 into 0.25
21.625 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.625 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.625 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.625 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.625 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.625 * [backup-simplify]: Simplify 0.5 into 0.5
21.625 * [taylor]: Taking taylor expansion of phi1 in phi1
21.625 * [backup-simplify]: Simplify 0 into 0
21.625 * [backup-simplify]: Simplify 1 into 1
21.626 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.627 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.627 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.628 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.628 * [backup-simplify]: Simplify lambda1 into lambda1
21.628 * [taylor]: Taking taylor expansion of (+ (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))))) in phi1
21.628 * [taylor]: Taking taylor expansion of (/ (pow phi1 2) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.628 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.628 * [taylor]: Taking taylor expansion of phi1 in phi1
21.628 * [backup-simplify]: Simplify 0 into 0
21.628 * [backup-simplify]: Simplify 1 into 1
21.628 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.628 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.628 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.628 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.628 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.628 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.628 * [backup-simplify]: Simplify 0.5 into 0.5
21.628 * [taylor]: Taking taylor expansion of phi1 in phi1
21.628 * [backup-simplify]: Simplify 0 into 0
21.628 * [backup-simplify]: Simplify 1 into 1
21.629 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.630 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.630 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.630 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.630 * [backup-simplify]: Simplify lambda1 into lambda1
21.630 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.630 * [taylor]: Taking taylor expansion of phi1 in phi1
21.631 * [backup-simplify]: Simplify 0 into 0
21.631 * [backup-simplify]: Simplify 1 into 1
21.631 * [backup-simplify]: Simplify (* 1 1) into 1
21.631 * [backup-simplify]: Simplify (* 1 1) into 1
21.632 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.632 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.632 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.632 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
21.632 * [taylor]: Taking taylor expansion of (* 0.25 (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
21.632 * [taylor]: Taking taylor expansion of 0.25 in phi1
21.632 * [backup-simplify]: Simplify 0.25 into 0.25
21.632 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.632 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4))) in phi1
21.632 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.633 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.633 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.633 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.633 * [backup-simplify]: Simplify 0.5 into 0.5
21.633 * [taylor]: Taking taylor expansion of phi1 in phi1
21.633 * [backup-simplify]: Simplify 0 into 0
21.633 * [backup-simplify]: Simplify 1 into 1
21.633 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.635 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.635 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 4)) in phi1
21.635 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
21.635 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
21.635 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.635 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.635 * [backup-simplify]: Simplify 0.5 into 0.5
21.635 * [taylor]: Taking taylor expansion of phi1 in phi1
21.635 * [backup-simplify]: Simplify 0 into 0
21.635 * [backup-simplify]: Simplify 1 into 1
21.636 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.637 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.640 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.640 * [taylor]: Taking taylor expansion of (pow lambda1 4) in phi1
21.640 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.640 * [backup-simplify]: Simplify lambda1 into lambda1
21.640 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.640 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.640 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.640 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.640 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.640 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.640 * [backup-simplify]: Simplify 0.5 into 0.5
21.640 * [taylor]: Taking taylor expansion of phi1 in phi1
21.641 * [backup-simplify]: Simplify 0 into 0
21.641 * [backup-simplify]: Simplify 1 into 1
21.641 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.643 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.643 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.643 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.643 * [backup-simplify]: Simplify lambda1 into lambda1
21.643 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.643 * [taylor]: Taking taylor expansion of phi1 in phi1
21.643 * [backup-simplify]: Simplify 0 into 0
21.643 * [backup-simplify]: Simplify 1 into 1
21.643 * [backup-simplify]: Simplify (* 1 1) into 1
21.644 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25
21.644 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.644 * [backup-simplify]: Simplify (* (pow lambda1 2) (pow lambda1 2)) into (pow lambda1 4)
21.644 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 4)) into (* 0.25 (pow lambda1 4))
21.644 * [backup-simplify]: Simplify (* 1 (* 0.25 (pow lambda1 4))) into (* 0.25 (pow lambda1 4))
21.645 * [backup-simplify]: Simplify (* 1 1) into 1
21.645 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.645 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.645 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.646 * [backup-simplify]: Simplify (/ (* 0.25 (pow lambda1 4)) (pow lambda1 2)) into (* 0.25 (pow lambda1 2))
21.646 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)))) in phi1
21.646 * [taylor]: Taking taylor expansion of (/ 1 (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2))) in phi1
21.646 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) (pow phi1 2)) in phi1
21.646 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
21.646 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
21.646 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
21.646 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
21.646 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.646 * [backup-simplify]: Simplify 0.5 into 0.5
21.646 * [taylor]: Taking taylor expansion of phi1 in phi1
21.646 * [backup-simplify]: Simplify 0 into 0
21.646 * [backup-simplify]: Simplify 1 into 1
21.647 * [backup-simplify]: Simplify (* 0.5 0) into 0
21.649 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
21.649 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.649 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.649 * [backup-simplify]: Simplify lambda1 into lambda1
21.649 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.649 * [taylor]: Taking taylor expansion of phi1 in phi1
21.649 * [backup-simplify]: Simplify 0 into 0
21.649 * [backup-simplify]: Simplify 1 into 1
21.649 * [backup-simplify]: Simplify (* 1 1) into 1
21.649 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.650 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.650 * [backup-simplify]: Simplify (+ (pow lambda1 2) 0) into (pow lambda1 2)
21.650 * [backup-simplify]: Simplify (/ 1 (pow lambda1 2)) into (/ 1 (pow lambda1 2))
21.650 * [backup-simplify]: Simplify (sqrt (/ 1 (pow lambda1 2))) into (/ 1 lambda1)
21.650 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.651 * [backup-simplify]: Simplify (+ 0) into 0
21.651 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.652 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
21.653 * [backup-simplify]: Simplify (+ 0 0) into 0
21.653 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
21.653 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow lambda1 2))))) into 0
21.654 * [backup-simplify]: Simplify (+ 0 1) into 1
21.654 * [backup-simplify]: Simplify (* 1 1) into 1
21.654 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.654 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
21.655 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2))
21.655 * [backup-simplify]: Simplify (+ (* 0.25 (pow lambda1 2)) 0) into (* 0.25 (pow lambda1 2))
21.655 * [backup-simplify]: Simplify (+ 0 (* 0.25 (pow lambda1 2))) into (* 0.25 (pow lambda1 2))
21.655 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2)))
21.656 * [backup-simplify]: Simplify (+ 1 (- (* 0.25 (pow lambda1 2)))) into (- 1 (* 0.25 (pow lambda1 2)))
21.656 * [backup-simplify]: Simplify (* (- 1 (* 0.25 (pow lambda1 2))) (/ 1 lambda1)) into (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)
21.656 * [backup-simplify]: Simplify (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1))
21.656 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1
21.656 * [taylor]: Taking taylor expansion of 1/2 in lambda1
21.656 * [backup-simplify]: Simplify 1/2 into 1/2
21.656 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1
21.656 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1
21.656 * [taylor]: Taking taylor expansion of 1 in lambda1
21.656 * [backup-simplify]: Simplify 1 into 1
21.656 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
21.656 * [taylor]: Taking taylor expansion of 0.25 in lambda1
21.657 * [backup-simplify]: Simplify 0.25 into 0.25
21.657 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
21.657 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.657 * [backup-simplify]: Simplify 0 into 0
21.657 * [backup-simplify]: Simplify 1 into 1
21.657 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.657 * [backup-simplify]: Simplify 0 into 0
21.657 * [backup-simplify]: Simplify 1 into 1
21.657 * [backup-simplify]: Simplify (+ 1 0) into 1
21.658 * [backup-simplify]: Simplify (/ 1 1) into 1
21.658 * [backup-simplify]: Simplify (+ 0 0) into 0
21.659 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
21.660 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
21.660 * [backup-simplify]: Simplify 0 into 0
21.660 * [backup-simplify]: Simplify (+ 0) into 0
21.661 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.661 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
21.662 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (/ 1 lambda1))) into 0
21.662 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 1)) into 0
21.662 * [taylor]: Taking taylor expansion of 0 in lambda1
21.662 * [backup-simplify]: Simplify 0 into 0
21.663 * [backup-simplify]: Simplify 0 into 0
21.663 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
21.665 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
21.666 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2))
21.666 * [backup-simplify]: Simplify (+ 0) into 0
21.667 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
21.668 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
21.668 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2
21.669 * [backup-simplify]: Simplify (+ (* 0.5 (pow lambda1 2)) 2) into (+ (* 0.5 (pow lambda1 2)) 2)
21.670 * [backup-simplify]: Simplify (+ (* (/ 1 lambda1) (+ (* 0.5 (pow lambda1 2)) 2)) (* 0 0)) into (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1))
21.670 * [backup-simplify]: Simplify (+ (* -1/2 (+ (* 2 (/ 1 lambda1)) (* 0.5 lambda1))) (* 0 0)) into (- (+ (/ 1 lambda1) (* 0.25 lambda1)))
21.670 * [taylor]: Taking taylor expansion of (- (+ (/ 1 lambda1) (* 0.25 lambda1))) in lambda1
21.670 * [taylor]: Taking taylor expansion of (+ (/ 1 lambda1) (* 0.25 lambda1)) in lambda1
21.670 * [taylor]: Taking taylor expansion of (/ 1 lambda1) in lambda1
21.670 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.670 * [backup-simplify]: Simplify 0 into 0
21.670 * [backup-simplify]: Simplify 1 into 1
21.671 * [backup-simplify]: Simplify (/ 1 1) into 1
21.671 * [taylor]: Taking taylor expansion of (* 0.25 lambda1) in lambda1
21.671 * [taylor]: Taking taylor expansion of 0.25 in lambda1
21.671 * [backup-simplify]: Simplify 0.25 into 0.25
21.671 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.671 * [backup-simplify]: Simplify 0 into 0
21.671 * [backup-simplify]: Simplify 1 into 1
21.672 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
21.672 * [backup-simplify]: Simplify (* 0.25 0) into 0
21.673 * [backup-simplify]: Simplify (+ 0 0) into 0
21.673 * [backup-simplify]: Simplify (- 0) into 0
21.673 * [backup-simplify]: Simplify 0 into 0
21.674 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
21.677 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
21.681 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25)
21.682 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2)))
21.683 * [backup-simplify]: Simplify (* 1 1) into 1
21.683 * [backup-simplify]: Simplify (+ (- (* 0.25 (pow lambda1 2))) 1) into (- 1 (* 0.25 (pow lambda1 2)))
21.684 * [backup-simplify]: Simplify (/ (- (- 1 (* 0.25 (pow lambda1 2))) (pow 0 2) (+)) (* 2 lambda1)) into (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1))
21.684 * [taylor]: Taking taylor expansion of (* 1/2 (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1)) in lambda1
21.684 * [taylor]: Taking taylor expansion of 1/2 in lambda1
21.684 * [backup-simplify]: Simplify 1/2 into 1/2
21.684 * [taylor]: Taking taylor expansion of (/ (- 1 (* 0.25 (pow lambda1 2))) lambda1) in lambda1
21.684 * [taylor]: Taking taylor expansion of (- 1 (* 0.25 (pow lambda1 2))) in lambda1
21.685 * [taylor]: Taking taylor expansion of 1 in lambda1
21.685 * [backup-simplify]: Simplify 1 into 1
21.685 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
21.685 * [taylor]: Taking taylor expansion of 0.25 in lambda1
21.685 * [backup-simplify]: Simplify 0.25 into 0.25
21.685 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
21.685 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.685 * [backup-simplify]: Simplify 0 into 0
21.685 * [backup-simplify]: Simplify 1 into 1
21.685 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.685 * [backup-simplify]: Simplify 0 into 0
21.685 * [backup-simplify]: Simplify 1 into 1
21.685 * [backup-simplify]: Simplify (+ 1 0) into 1
21.686 * [backup-simplify]: Simplify (/ 1 1) into 1
21.686 * [backup-simplify]: Simplify (+ 0 0) into 0
21.687 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* 1 (/ 0 1)))) into 0
21.688 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 1)) into 0
21.688 * [backup-simplify]: Simplify 0 into 0
21.688 * [backup-simplify]: Simplify (+ (* 1 (* lambda1 (* 1 (* 1 1)))) (* -1 (* 1 (* 1 (* 1 lambda2))))) into (- lambda1 lambda2)
21.694 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 lambda2) 2) (pow (- (* (cos (* 0.5 (/ 1 phi2))) (cos (* 0.5 (/ 1 phi1)))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2)) (* (pow (- (* (cos (* 0.5 (/ 1 phi2))) (cos (* 0.5 (/ 1 phi1)))) (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5)))) 2) (pow (/ 1 lambda1) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) (* (- (/ 1 phi1) (/ 1 phi2)) (- (/ 1 phi1) (/ 1 phi2))))) into (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))))
21.694 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in (lambda2 phi2 phi1 lambda1) around 0
21.694 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda1
21.694 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda1
21.695 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda1
21.695 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1
21.695 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
21.695 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
21.695 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
21.695 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
21.695 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.695 * [backup-simplify]: Simplify 0.5 into 0.5
21.695 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.695 * [backup-simplify]: Simplify phi1 into phi1
21.695 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.695 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.695 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.695 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.695 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.696 * [backup-simplify]: Simplify (- 0) into 0
21.697 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.697 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
21.697 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
21.697 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
21.697 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.697 * [backup-simplify]: Simplify 0.5 into 0.5
21.697 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.697 * [backup-simplify]: Simplify phi2 into phi2
21.697 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.697 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.697 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.697 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.697 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.698 * [backup-simplify]: Simplify (- 0) into 0
21.698 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.698 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
21.698 * [taylor]: Taking taylor expansion of lambda2 in lambda1
21.698 * [backup-simplify]: Simplify lambda2 into lambda2
21.698 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.699 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.699 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.699 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.700 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
21.700 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda1
21.700 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1
21.700 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
21.700 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
21.700 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
21.700 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
21.700 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.700 * [backup-simplify]: Simplify 0.5 into 0.5
21.700 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.700 * [backup-simplify]: Simplify phi1 into phi1
21.700 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.700 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.701 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.701 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.701 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.701 * [backup-simplify]: Simplify (- 0) into 0
21.701 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.702 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
21.702 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
21.702 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
21.702 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.702 * [backup-simplify]: Simplify 0.5 into 0.5
21.702 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.702 * [backup-simplify]: Simplify phi2 into phi2
21.702 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.702 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.702 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.702 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.702 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.703 * [backup-simplify]: Simplify (- 0) into 0
21.703 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.703 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
21.703 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.703 * [backup-simplify]: Simplify 0 into 0
21.703 * [backup-simplify]: Simplify 1 into 1
21.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.703 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.704 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.704 * [backup-simplify]: Simplify (* 1 1) into 1
21.705 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.705 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1
21.705 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
21.705 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
21.705 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.705 * [backup-simplify]: Simplify phi2 into phi2
21.705 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
21.705 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
21.705 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1
21.705 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1
21.705 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
21.705 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
21.705 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
21.705 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
21.705 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.705 * [backup-simplify]: Simplify 0.5 into 0.5
21.705 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.705 * [backup-simplify]: Simplify phi1 into phi1
21.705 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.706 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
21.706 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
21.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
21.706 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.706 * [backup-simplify]: Simplify 0.5 into 0.5
21.706 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.706 * [backup-simplify]: Simplify phi2 into phi2
21.706 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.707 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.707 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.707 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
21.707 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.707 * [backup-simplify]: Simplify 0 into 0
21.707 * [backup-simplify]: Simplify 1 into 1
21.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.708 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.715 * [backup-simplify]: Simplify (* 1 1) into 1
21.715 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.715 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1
21.715 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
21.715 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
21.715 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.715 * [backup-simplify]: Simplify phi1 into phi1
21.715 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.715 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
21.715 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1
21.715 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
21.715 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
21.715 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
21.715 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
21.715 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.715 * [backup-simplify]: Simplify 0.5 into 0.5
21.715 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.715 * [backup-simplify]: Simplify phi1 into phi1
21.715 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.715 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.716 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.716 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.716 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
21.716 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
21.716 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
21.716 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.716 * [backup-simplify]: Simplify 0.5 into 0.5
21.716 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.716 * [backup-simplify]: Simplify phi2 into phi2
21.716 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.716 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.716 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.716 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.716 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.716 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
21.716 * [taylor]: Taking taylor expansion of lambda2 in lambda1
21.716 * [backup-simplify]: Simplify lambda2 into lambda2
21.716 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.717 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.717 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.717 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.717 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
21.717 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1
21.717 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
21.717 * [taylor]: Taking taylor expansion of 2 in lambda1
21.717 * [backup-simplify]: Simplify 2 into 2
21.717 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
21.717 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
21.717 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
21.717 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
21.717 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.717 * [backup-simplify]: Simplify 0.5 into 0.5
21.717 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
21.717 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
21.717 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.717 * [backup-simplify]: Simplify phi1 into phi1
21.717 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
21.717 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
21.717 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.717 * [backup-simplify]: Simplify phi2 into phi2
21.717 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
21.718 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
21.718 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
21.718 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.718 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.718 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.718 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
21.719 * [backup-simplify]: Simplify (- 0) into 0
21.719 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.719 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
21.719 * [taylor]: Taking taylor expansion of lambda2 in lambda1
21.719 * [backup-simplify]: Simplify lambda2 into lambda2
21.719 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.719 * [backup-simplify]: Simplify 0 into 0
21.719 * [backup-simplify]: Simplify 1 into 1
21.719 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
21.719 * [backup-simplify]: Simplify (* lambda2 0) into 0
21.719 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
21.720 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
21.720 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1
21.720 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
21.720 * [taylor]: Taking taylor expansion of 2 in lambda1
21.720 * [backup-simplify]: Simplify 2 into 2
21.720 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
21.720 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
21.720 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.720 * [backup-simplify]: Simplify phi2 into phi2
21.720 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.720 * [backup-simplify]: Simplify phi1 into phi1
21.720 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
21.720 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
21.720 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1
21.720 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda1
21.720 * [taylor]: Taking taylor expansion of 2 in lambda1
21.720 * [backup-simplify]: Simplify 2 into 2
21.720 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda1
21.720 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
21.720 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
21.720 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
21.720 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.720 * [backup-simplify]: Simplify 0.5 into 0.5
21.720 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.720 * [backup-simplify]: Simplify phi1 into phi1
21.720 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.720 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.720 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.720 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
21.720 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
21.720 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
21.720 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.720 * [backup-simplify]: Simplify 0.5 into 0.5
21.720 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.721 * [backup-simplify]: Simplify phi1 into phi1
21.721 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.721 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
21.721 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
21.721 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
21.721 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.721 * [backup-simplify]: Simplify 0.5 into 0.5
21.721 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.721 * [backup-simplify]: Simplify phi2 into phi2
21.721 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.721 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
21.721 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
21.721 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.721 * [backup-simplify]: Simplify 0.5 into 0.5
21.721 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.721 * [backup-simplify]: Simplify phi2 into phi2
21.721 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.721 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.721 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.721 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
21.721 * [taylor]: Taking taylor expansion of lambda2 in lambda1
21.721 * [backup-simplify]: Simplify lambda2 into lambda2
21.721 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.721 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.722 * [backup-simplify]: Simplify (- 0) into 0
21.722 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.722 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.722 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.722 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.722 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.723 * [backup-simplify]: Simplify (- 0) into 0
21.723 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.723 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.723 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.723 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.723 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
21.723 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1
21.724 * [taylor]: Taking taylor expansion of 2 in lambda1
21.724 * [backup-simplify]: Simplify 2 into 2
21.724 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1
21.724 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
21.724 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
21.724 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
21.724 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.724 * [backup-simplify]: Simplify 0.5 into 0.5
21.724 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.724 * [backup-simplify]: Simplify phi1 into phi1
21.724 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.724 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.724 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.724 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
21.724 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
21.724 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
21.724 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.724 * [backup-simplify]: Simplify 0.5 into 0.5
21.724 * [taylor]: Taking taylor expansion of phi1 in lambda1
21.724 * [backup-simplify]: Simplify phi1 into phi1
21.724 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.724 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.724 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.724 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
21.724 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
21.724 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
21.724 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.724 * [backup-simplify]: Simplify 0.5 into 0.5
21.724 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.724 * [backup-simplify]: Simplify phi2 into phi2
21.724 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.724 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.724 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.724 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
21.724 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
21.724 * [taylor]: Taking taylor expansion of 0.5 in lambda1
21.724 * [backup-simplify]: Simplify 0.5 into 0.5
21.725 * [taylor]: Taking taylor expansion of phi2 in lambda1
21.725 * [backup-simplify]: Simplify phi2 into phi2
21.725 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.725 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.725 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.725 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
21.725 * [taylor]: Taking taylor expansion of lambda1 in lambda1
21.725 * [backup-simplify]: Simplify 0 into 0
21.725 * [backup-simplify]: Simplify 1 into 1
21.725 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.725 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.725 * [backup-simplify]: Simplify (- 0) into 0
21.725 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.725 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.725 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.726 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.726 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.726 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.726 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.726 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.726 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.726 * [backup-simplify]: Simplify (- 0) into 0
21.726 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.726 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.726 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.727 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.727 * [backup-simplify]: Simplify (* 1 1) into 1
21.727 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.728 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 0) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.728 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.729 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
21.729 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
21.730 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.730 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.730 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.730 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.731 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
21.732 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
21.732 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
21.733 * [backup-simplify]: Simplify (+ 0) into 0
21.733 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.733 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.734 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.734 * [backup-simplify]: Simplify (- 0) into 0
21.735 * [backup-simplify]: Simplify (+ 0 0) into 0
21.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.735 * [backup-simplify]: Simplify (+ 0) into 0
21.735 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.735 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.736 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.736 * [backup-simplify]: Simplify (- 0) into 0
21.737 * [backup-simplify]: Simplify (+ 0 0) into 0
21.737 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.737 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
21.737 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.738 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
21.738 * [backup-simplify]: Simplify (+ 0) into 0
21.739 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.739 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.739 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.740 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.740 * [backup-simplify]: Simplify (+ 0 0) into 0
21.740 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.740 * [backup-simplify]: Simplify (+ 0) into 0
21.741 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.741 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.741 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.742 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.742 * [backup-simplify]: Simplify (+ 0 0) into 0
21.742 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.742 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
21.743 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.743 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
21.744 * [backup-simplify]: Simplify (+ 0 0) into 0
21.744 * [backup-simplify]: Simplify (+ 0 0) into 0
21.744 * [backup-simplify]: Simplify (+ 0 0) into 0
21.744 * [backup-simplify]: Simplify (+ 0 0) into 0
21.745 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
21.745 * [backup-simplify]: Simplify (+ 0) into 0
21.745 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.745 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.746 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.746 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.746 * [backup-simplify]: Simplify (- 0) into 0
21.747 * [backup-simplify]: Simplify (+ 0 0) into 0
21.747 * [backup-simplify]: Simplify (+ 0) into 0
21.747 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.748 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.748 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.748 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.749 * [backup-simplify]: Simplify (+ 0 0) into 0
21.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.749 * [backup-simplify]: Simplify (+ 0) into 0
21.749 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.749 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.750 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.750 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.750 * [backup-simplify]: Simplify (+ 0 0) into 0
21.751 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
21.751 * [backup-simplify]: Simplify (+ 0) into 0
21.751 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.751 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.752 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.752 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.752 * [backup-simplify]: Simplify (- 0) into 0
21.753 * [backup-simplify]: Simplify (+ 0 0) into 0
21.753 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
21.753 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.754 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0
21.754 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
21.755 * [backup-simplify]: Simplify (+ 0 0) into 0
21.755 * [backup-simplify]: Simplify (+ 0 0) into 0
21.755 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
21.756 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
21.756 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
21.758 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
21.758 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi1
21.758 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi1
21.758 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi1
21.758 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1
21.758 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
21.758 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
21.758 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
21.758 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
21.758 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.758 * [backup-simplify]: Simplify 0.5 into 0.5
21.758 * [taylor]: Taking taylor expansion of phi1 in phi1
21.758 * [backup-simplify]: Simplify 0 into 0
21.758 * [backup-simplify]: Simplify 1 into 1
21.759 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.759 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.759 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
21.759 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
21.759 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
21.759 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.759 * [backup-simplify]: Simplify 0.5 into 0.5
21.759 * [taylor]: Taking taylor expansion of phi2 in phi1
21.759 * [backup-simplify]: Simplify phi2 into phi2
21.759 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.760 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.760 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.760 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.760 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.760 * [backup-simplify]: Simplify (- 0) into 0
21.761 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.761 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
21.761 * [taylor]: Taking taylor expansion of lambda2 in phi1
21.761 * [backup-simplify]: Simplify lambda2 into lambda2
21.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.761 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.762 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.762 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.762 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
21.762 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi1
21.762 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1
21.762 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
21.762 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
21.762 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
21.762 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
21.762 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.763 * [backup-simplify]: Simplify 0.5 into 0.5
21.763 * [taylor]: Taking taylor expansion of phi1 in phi1
21.763 * [backup-simplify]: Simplify 0 into 0
21.763 * [backup-simplify]: Simplify 1 into 1
21.763 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.763 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.763 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
21.763 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
21.763 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
21.764 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.764 * [backup-simplify]: Simplify 0.5 into 0.5
21.764 * [taylor]: Taking taylor expansion of phi2 in phi1
21.764 * [backup-simplify]: Simplify phi2 into phi2
21.764 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.764 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.764 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.764 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.764 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.765 * [backup-simplify]: Simplify (- 0) into 0
21.765 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.765 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.765 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.765 * [backup-simplify]: Simplify lambda1 into lambda1
21.765 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.765 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.766 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.766 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.766 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
21.766 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1
21.766 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
21.766 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
21.766 * [taylor]: Taking taylor expansion of phi2 in phi1
21.766 * [backup-simplify]: Simplify phi2 into phi2
21.766 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
21.767 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
21.767 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1
21.767 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1
21.767 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
21.767 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
21.767 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
21.767 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
21.767 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.767 * [backup-simplify]: Simplify 0.5 into 0.5
21.767 * [taylor]: Taking taylor expansion of phi1 in phi1
21.767 * [backup-simplify]: Simplify 0 into 0
21.767 * [backup-simplify]: Simplify 1 into 1
21.768 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.768 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.768 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
21.768 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
21.768 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
21.768 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.768 * [backup-simplify]: Simplify 0.5 into 0.5
21.768 * [taylor]: Taking taylor expansion of phi2 in phi1
21.768 * [backup-simplify]: Simplify phi2 into phi2
21.768 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.768 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.768 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.768 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.769 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.769 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.769 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.769 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.769 * [backup-simplify]: Simplify lambda1 into lambda1
21.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.769 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.770 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.770 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.770 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
21.770 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1
21.770 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
21.770 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
21.770 * [taylor]: Taking taylor expansion of phi1 in phi1
21.770 * [backup-simplify]: Simplify 0 into 0
21.770 * [backup-simplify]: Simplify 1 into 1
21.771 * [backup-simplify]: Simplify (* 1 1) into 1
21.771 * [backup-simplify]: Simplify (/ 1 1) into 1
21.771 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1
21.771 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
21.772 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
21.772 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
21.772 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
21.772 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.772 * [backup-simplify]: Simplify 0.5 into 0.5
21.772 * [taylor]: Taking taylor expansion of phi1 in phi1
21.772 * [backup-simplify]: Simplify 0 into 0
21.772 * [backup-simplify]: Simplify 1 into 1
21.772 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.772 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.772 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
21.772 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
21.773 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
21.773 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.773 * [backup-simplify]: Simplify 0.5 into 0.5
21.773 * [taylor]: Taking taylor expansion of phi2 in phi1
21.773 * [backup-simplify]: Simplify phi2 into phi2
21.773 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.773 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.773 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.773 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.773 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.773 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.773 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
21.773 * [taylor]: Taking taylor expansion of lambda2 in phi1
21.773 * [backup-simplify]: Simplify lambda2 into lambda2
21.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.774 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.774 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.774 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.775 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
21.775 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1
21.775 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
21.775 * [taylor]: Taking taylor expansion of 2 in phi1
21.775 * [backup-simplify]: Simplify 2 into 2
21.775 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
21.775 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
21.775 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
21.775 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
21.775 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.775 * [backup-simplify]: Simplify 0.5 into 0.5
21.775 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
21.775 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
21.775 * [taylor]: Taking taylor expansion of phi1 in phi1
21.775 * [backup-simplify]: Simplify 0 into 0
21.775 * [backup-simplify]: Simplify 1 into 1
21.776 * [backup-simplify]: Simplify (/ 1 1) into 1
21.776 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
21.776 * [taylor]: Taking taylor expansion of phi2 in phi1
21.776 * [backup-simplify]: Simplify phi2 into phi2
21.776 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
21.777 * [backup-simplify]: Simplify (+ 1 0) into 1
21.777 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
21.777 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.777 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
21.777 * [taylor]: Taking taylor expansion of lambda2 in phi1
21.777 * [backup-simplify]: Simplify lambda2 into lambda2
21.777 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.777 * [backup-simplify]: Simplify lambda1 into lambda1
21.778 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
21.778 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
21.778 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
21.778 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1
21.778 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
21.778 * [taylor]: Taking taylor expansion of 2 in phi1
21.778 * [backup-simplify]: Simplify 2 into 2
21.779 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
21.779 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
21.779 * [taylor]: Taking taylor expansion of phi2 in phi1
21.779 * [backup-simplify]: Simplify phi2 into phi2
21.779 * [taylor]: Taking taylor expansion of phi1 in phi1
21.779 * [backup-simplify]: Simplify 0 into 0
21.779 * [backup-simplify]: Simplify 1 into 1
21.779 * [backup-simplify]: Simplify (* phi2 0) into 0
21.779 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
21.779 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
21.779 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1
21.779 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1
21.780 * [taylor]: Taking taylor expansion of 2 in phi1
21.780 * [backup-simplify]: Simplify 2 into 2
21.780 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1
21.780 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
21.780 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
21.780 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
21.780 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.780 * [backup-simplify]: Simplify 0.5 into 0.5
21.780 * [taylor]: Taking taylor expansion of phi1 in phi1
21.780 * [backup-simplify]: Simplify 0 into 0
21.780 * [backup-simplify]: Simplify 1 into 1
21.780 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.781 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.781 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
21.781 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
21.781 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
21.781 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.781 * [backup-simplify]: Simplify 0.5 into 0.5
21.781 * [taylor]: Taking taylor expansion of phi1 in phi1
21.781 * [backup-simplify]: Simplify 0 into 0
21.781 * [backup-simplify]: Simplify 1 into 1
21.781 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.781 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.781 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
21.781 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
21.781 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
21.781 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.781 * [backup-simplify]: Simplify 0.5 into 0.5
21.781 * [taylor]: Taking taylor expansion of phi2 in phi1
21.782 * [backup-simplify]: Simplify phi2 into phi2
21.782 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.782 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.782 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.782 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
21.782 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
21.782 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.782 * [backup-simplify]: Simplify 0.5 into 0.5
21.782 * [taylor]: Taking taylor expansion of phi2 in phi1
21.782 * [backup-simplify]: Simplify phi2 into phi2
21.782 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.782 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.782 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.782 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
21.782 * [taylor]: Taking taylor expansion of lambda2 in phi1
21.782 * [backup-simplify]: Simplify lambda2 into lambda2
21.782 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.782 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.783 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.783 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.783 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.783 * [backup-simplify]: Simplify (- 0) into 0
21.783 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.784 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.784 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.784 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.784 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.785 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
21.785 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1
21.785 * [taylor]: Taking taylor expansion of 2 in phi1
21.785 * [backup-simplify]: Simplify 2 into 2
21.785 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1
21.785 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
21.785 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
21.785 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
21.785 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.785 * [backup-simplify]: Simplify 0.5 into 0.5
21.785 * [taylor]: Taking taylor expansion of phi1 in phi1
21.786 * [backup-simplify]: Simplify 0 into 0
21.786 * [backup-simplify]: Simplify 1 into 1
21.786 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.786 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.786 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
21.786 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
21.786 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
21.786 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.786 * [backup-simplify]: Simplify 0.5 into 0.5
21.787 * [taylor]: Taking taylor expansion of phi1 in phi1
21.787 * [backup-simplify]: Simplify 0 into 0
21.787 * [backup-simplify]: Simplify 1 into 1
21.787 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.787 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.787 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
21.787 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
21.787 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
21.787 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.787 * [backup-simplify]: Simplify 0.5 into 0.5
21.787 * [taylor]: Taking taylor expansion of phi2 in phi1
21.788 * [backup-simplify]: Simplify phi2 into phi2
21.788 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.788 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.788 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.788 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
21.788 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
21.788 * [taylor]: Taking taylor expansion of 0.5 in phi1
21.788 * [backup-simplify]: Simplify 0.5 into 0.5
21.788 * [taylor]: Taking taylor expansion of phi2 in phi1
21.788 * [backup-simplify]: Simplify phi2 into phi2
21.788 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.788 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.788 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.788 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
21.788 * [taylor]: Taking taylor expansion of lambda1 in phi1
21.788 * [backup-simplify]: Simplify lambda1 into lambda1
21.789 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.789 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.789 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.789 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.789 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.790 * [backup-simplify]: Simplify (- 0) into 0
21.790 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.790 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.790 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.791 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.791 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.791 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
21.792 * [backup-simplify]: Simplify (+ 1 0) into 1
21.793 * [backup-simplify]: Simplify (+ 0 1) into 1
21.793 * [backup-simplify]: Simplify (+ 0 1) into 1
21.794 * [backup-simplify]: Simplify (+ 0 1) into 1
21.794 * [backup-simplify]: Simplify (+ 0 1) into 1
21.794 * [backup-simplify]: Simplify (+ 1 0) into 1
21.795 * [backup-simplify]: Simplify (sqrt 1) into 1
21.796 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.796 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
21.797 * [backup-simplify]: Simplify (+ 0 0) into 0
21.797 * [backup-simplify]: Simplify (+ 0 0) into 0
21.798 * [backup-simplify]: Simplify (+ 0 0) into 0
21.798 * [backup-simplify]: Simplify (+ 0 0) into 0
21.798 * [backup-simplify]: Simplify (+ 0 0) into 0
21.799 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
21.799 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2))
21.799 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2))
21.799 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2)))
21.799 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
21.800 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
21.800 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi2
21.800 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi2
21.800 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in phi2
21.800 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2
21.800 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
21.800 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
21.800 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
21.800 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.800 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.800 * [backup-simplify]: Simplify 0.5 into 0.5
21.800 * [taylor]: Taking taylor expansion of phi1 in phi2
21.800 * [backup-simplify]: Simplify phi1 into phi1
21.800 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.801 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.801 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.801 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.801 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.801 * [backup-simplify]: Simplify (- 0) into 0
21.801 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.801 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
21.801 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
21.802 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.802 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.802 * [backup-simplify]: Simplify 0.5 into 0.5
21.802 * [taylor]: Taking taylor expansion of phi2 in phi2
21.802 * [backup-simplify]: Simplify 0 into 0
21.802 * [backup-simplify]: Simplify 1 into 1
21.802 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.802 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.802 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
21.802 * [taylor]: Taking taylor expansion of lambda2 in phi2
21.802 * [backup-simplify]: Simplify lambda2 into lambda2
21.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.803 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.803 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.803 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.804 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
21.804 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in phi2
21.804 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2
21.804 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
21.804 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
21.804 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
21.804 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.804 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.804 * [backup-simplify]: Simplify 0.5 into 0.5
21.804 * [taylor]: Taking taylor expansion of phi1 in phi2
21.804 * [backup-simplify]: Simplify phi1 into phi1
21.804 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.804 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.805 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.805 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.805 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.805 * [backup-simplify]: Simplify (- 0) into 0
21.805 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.805 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
21.805 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
21.806 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.806 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.806 * [backup-simplify]: Simplify 0.5 into 0.5
21.806 * [taylor]: Taking taylor expansion of phi2 in phi2
21.806 * [backup-simplify]: Simplify 0 into 0
21.806 * [backup-simplify]: Simplify 1 into 1
21.806 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.806 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.806 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.806 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.806 * [backup-simplify]: Simplify lambda1 into lambda1
21.806 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.807 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.807 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.807 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.808 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
21.808 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2
21.808 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
21.808 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
21.808 * [taylor]: Taking taylor expansion of phi2 in phi2
21.808 * [backup-simplify]: Simplify 0 into 0
21.808 * [backup-simplify]: Simplify 1 into 1
21.808 * [backup-simplify]: Simplify (* 1 1) into 1
21.809 * [backup-simplify]: Simplify (/ 1 1) into 1
21.809 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2
21.809 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2
21.809 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
21.809 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
21.809 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
21.809 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.809 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.809 * [backup-simplify]: Simplify 0.5 into 0.5
21.809 * [taylor]: Taking taylor expansion of phi1 in phi2
21.809 * [backup-simplify]: Simplify phi1 into phi1
21.809 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.809 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.809 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.810 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.810 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.810 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.810 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
21.810 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
21.810 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.810 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.810 * [backup-simplify]: Simplify 0.5 into 0.5
21.810 * [taylor]: Taking taylor expansion of phi2 in phi2
21.810 * [backup-simplify]: Simplify 0 into 0
21.810 * [backup-simplify]: Simplify 1 into 1
21.811 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.811 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.811 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.811 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.811 * [backup-simplify]: Simplify lambda1 into lambda1
21.811 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.811 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.812 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.812 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.812 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
21.812 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2
21.812 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
21.812 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
21.812 * [taylor]: Taking taylor expansion of phi1 in phi2
21.812 * [backup-simplify]: Simplify phi1 into phi1
21.813 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.813 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
21.813 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2
21.813 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
21.813 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
21.813 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
21.813 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.813 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.813 * [backup-simplify]: Simplify 0.5 into 0.5
21.813 * [taylor]: Taking taylor expansion of phi1 in phi2
21.813 * [backup-simplify]: Simplify phi1 into phi1
21.813 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.813 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.813 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.813 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.813 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.814 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.814 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
21.814 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
21.814 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.814 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.814 * [backup-simplify]: Simplify 0.5 into 0.5
21.814 * [taylor]: Taking taylor expansion of phi2 in phi2
21.814 * [backup-simplify]: Simplify 0 into 0
21.814 * [backup-simplify]: Simplify 1 into 1
21.814 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.815 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.815 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
21.815 * [taylor]: Taking taylor expansion of lambda2 in phi2
21.815 * [backup-simplify]: Simplify lambda2 into lambda2
21.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.815 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.815 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.815 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.816 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
21.816 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2
21.816 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
21.816 * [taylor]: Taking taylor expansion of 2 in phi2
21.816 * [backup-simplify]: Simplify 2 into 2
21.816 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
21.816 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
21.816 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
21.816 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
21.816 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.816 * [backup-simplify]: Simplify 0.5 into 0.5
21.816 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
21.816 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
21.816 * [taylor]: Taking taylor expansion of phi1 in phi2
21.816 * [backup-simplify]: Simplify phi1 into phi1
21.817 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
21.817 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
21.817 * [taylor]: Taking taylor expansion of phi2 in phi2
21.817 * [backup-simplify]: Simplify 0 into 0
21.817 * [backup-simplify]: Simplify 1 into 1
21.817 * [backup-simplify]: Simplify (/ 1 1) into 1
21.818 * [backup-simplify]: Simplify (+ 0 1) into 1
21.818 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
21.818 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.818 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
21.818 * [taylor]: Taking taylor expansion of lambda2 in phi2
21.818 * [backup-simplify]: Simplify lambda2 into lambda2
21.818 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.818 * [backup-simplify]: Simplify lambda1 into lambda1
21.819 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
21.819 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
21.819 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
21.819 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2
21.819 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
21.819 * [taylor]: Taking taylor expansion of 2 in phi2
21.819 * [backup-simplify]: Simplify 2 into 2
21.819 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
21.819 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
21.819 * [taylor]: Taking taylor expansion of phi2 in phi2
21.819 * [backup-simplify]: Simplify 0 into 0
21.819 * [backup-simplify]: Simplify 1 into 1
21.820 * [taylor]: Taking taylor expansion of phi1 in phi2
21.820 * [backup-simplify]: Simplify phi1 into phi1
21.820 * [backup-simplify]: Simplify (* 0 phi1) into 0
21.820 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
21.820 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
21.820 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2
21.820 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2
21.820 * [taylor]: Taking taylor expansion of 2 in phi2
21.820 * [backup-simplify]: Simplify 2 into 2
21.820 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2
21.820 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
21.820 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
21.820 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.820 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.820 * [backup-simplify]: Simplify 0.5 into 0.5
21.821 * [taylor]: Taking taylor expansion of phi1 in phi2
21.821 * [backup-simplify]: Simplify phi1 into phi1
21.821 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.821 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.821 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.821 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
21.821 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
21.821 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.821 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.821 * [backup-simplify]: Simplify 0.5 into 0.5
21.821 * [taylor]: Taking taylor expansion of phi1 in phi2
21.821 * [backup-simplify]: Simplify phi1 into phi1
21.821 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.821 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.821 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.821 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
21.821 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
21.821 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.821 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.821 * [backup-simplify]: Simplify 0.5 into 0.5
21.821 * [taylor]: Taking taylor expansion of phi2 in phi2
21.821 * [backup-simplify]: Simplify 0 into 0
21.821 * [backup-simplify]: Simplify 1 into 1
21.822 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.822 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.822 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
21.822 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.822 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.822 * [backup-simplify]: Simplify 0.5 into 0.5
21.822 * [taylor]: Taking taylor expansion of phi2 in phi2
21.822 * [backup-simplify]: Simplify 0 into 0
21.822 * [backup-simplify]: Simplify 1 into 1
21.823 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.823 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.823 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
21.823 * [taylor]: Taking taylor expansion of lambda2 in phi2
21.823 * [backup-simplify]: Simplify lambda2 into lambda2
21.823 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.823 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.824 * [backup-simplify]: Simplify (- 0) into 0
21.824 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.824 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.824 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.824 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.824 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.824 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.825 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.825 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
21.825 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
21.825 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2
21.825 * [taylor]: Taking taylor expansion of 2 in phi2
21.825 * [backup-simplify]: Simplify 2 into 2
21.826 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2
21.826 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
21.826 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
21.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.826 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.826 * [backup-simplify]: Simplify 0.5 into 0.5
21.826 * [taylor]: Taking taylor expansion of phi1 in phi2
21.826 * [backup-simplify]: Simplify phi1 into phi1
21.826 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.826 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.826 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.826 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
21.826 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
21.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.826 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.826 * [backup-simplify]: Simplify 0.5 into 0.5
21.826 * [taylor]: Taking taylor expansion of phi1 in phi2
21.826 * [backup-simplify]: Simplify phi1 into phi1
21.826 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.826 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.826 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.826 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
21.826 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
21.826 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.827 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.827 * [backup-simplify]: Simplify 0.5 into 0.5
21.827 * [taylor]: Taking taylor expansion of phi2 in phi2
21.827 * [backup-simplify]: Simplify 0 into 0
21.827 * [backup-simplify]: Simplify 1 into 1
21.827 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.827 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.827 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
21.827 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.827 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.827 * [backup-simplify]: Simplify 0.5 into 0.5
21.827 * [taylor]: Taking taylor expansion of phi2 in phi2
21.827 * [backup-simplify]: Simplify 0 into 0
21.828 * [backup-simplify]: Simplify 1 into 1
21.828 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.828 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.828 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
21.828 * [taylor]: Taking taylor expansion of lambda1 in phi2
21.828 * [backup-simplify]: Simplify lambda1 into lambda1
21.828 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.828 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.829 * [backup-simplify]: Simplify (- 0) into 0
21.829 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.829 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.829 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.829 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.830 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.830 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.830 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.831 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
21.831 * [backup-simplify]: Simplify (+ 1 0) into 1
21.832 * [backup-simplify]: Simplify (+ 0 1) into 1
21.832 * [backup-simplify]: Simplify (+ 0 1) into 1
21.833 * [backup-simplify]: Simplify (+ 1 0) into 1
21.833 * [backup-simplify]: Simplify (sqrt 1) into 1
21.834 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.835 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
21.835 * [backup-simplify]: Simplify (+ 0 0) into 0
21.835 * [backup-simplify]: Simplify (+ 0 0) into 0
21.836 * [backup-simplify]: Simplify (+ 0 0) into 0
21.836 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
21.836 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1))
21.836 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1))
21.836 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
21.836 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
21.837 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
21.837 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda2
21.837 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda2
21.837 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda2
21.837 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
21.837 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
21.837 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
21.838 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
21.838 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.838 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.838 * [backup-simplify]: Simplify 0.5 into 0.5
21.838 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.838 * [backup-simplify]: Simplify phi1 into phi1
21.838 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.838 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.838 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.838 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.838 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.839 * [backup-simplify]: Simplify (- 0) into 0
21.839 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.839 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
21.839 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
21.839 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.839 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.839 * [backup-simplify]: Simplify 0.5 into 0.5
21.839 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.839 * [backup-simplify]: Simplify phi2 into phi2
21.839 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.839 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.839 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.839 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.840 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.840 * [backup-simplify]: Simplify (- 0) into 0
21.840 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.840 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.840 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.840 * [backup-simplify]: Simplify 0 into 0
21.840 * [backup-simplify]: Simplify 1 into 1
21.840 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.841 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.841 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.841 * [backup-simplify]: Simplify (* 1 1) into 1
21.842 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.842 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda2
21.842 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2
21.842 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
21.842 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
21.842 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
21.842 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.842 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.842 * [backup-simplify]: Simplify 0.5 into 0.5
21.842 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.842 * [backup-simplify]: Simplify phi1 into phi1
21.842 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.842 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.842 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.843 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.843 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.843 * [backup-simplify]: Simplify (- 0) into 0
21.843 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.843 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
21.843 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
21.843 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.843 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.843 * [backup-simplify]: Simplify 0.5 into 0.5
21.843 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.844 * [backup-simplify]: Simplify phi2 into phi2
21.844 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.844 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.844 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.844 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.844 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.844 * [backup-simplify]: Simplify (- 0) into 0
21.845 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.845 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.845 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.845 * [backup-simplify]: Simplify lambda1 into lambda1
21.845 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.845 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.845 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.846 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.846 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
21.846 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda2
21.846 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
21.846 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
21.846 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.846 * [backup-simplify]: Simplify phi2 into phi2
21.846 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
21.846 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
21.847 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2
21.847 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2
21.847 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
21.847 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
21.847 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
21.847 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.847 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.847 * [backup-simplify]: Simplify 0.5 into 0.5
21.847 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.847 * [backup-simplify]: Simplify phi1 into phi1
21.847 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.847 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.847 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.847 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.848 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.848 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
21.848 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
21.848 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.848 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.848 * [backup-simplify]: Simplify 0.5 into 0.5
21.848 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.848 * [backup-simplify]: Simplify phi2 into phi2
21.848 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.848 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.848 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.848 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.848 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.849 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.849 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.849 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.849 * [backup-simplify]: Simplify lambda1 into lambda1
21.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.849 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.849 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.850 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.850 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
21.850 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2
21.850 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
21.850 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
21.850 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.850 * [backup-simplify]: Simplify phi1 into phi1
21.850 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.850 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
21.850 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
21.850 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
21.850 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
21.851 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
21.851 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.851 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.851 * [backup-simplify]: Simplify 0.5 into 0.5
21.851 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.851 * [backup-simplify]: Simplify phi1 into phi1
21.851 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.851 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.851 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.851 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.851 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.851 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.851 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
21.851 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
21.851 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.851 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.851 * [backup-simplify]: Simplify 0.5 into 0.5
21.851 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.852 * [backup-simplify]: Simplify phi2 into phi2
21.852 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.852 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.852 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.852 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.852 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.852 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.852 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.852 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.852 * [backup-simplify]: Simplify 0 into 0
21.852 * [backup-simplify]: Simplify 1 into 1
21.852 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.853 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.853 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.853 * [backup-simplify]: Simplify (* 1 1) into 1
21.853 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.853 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda2
21.853 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
21.853 * [taylor]: Taking taylor expansion of 2 in lambda2
21.853 * [backup-simplify]: Simplify 2 into 2
21.854 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
21.854 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
21.854 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
21.854 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
21.854 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.854 * [backup-simplify]: Simplify 0.5 into 0.5
21.854 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
21.854 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
21.854 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.854 * [backup-simplify]: Simplify phi1 into phi1
21.854 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
21.854 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
21.854 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.854 * [backup-simplify]: Simplify phi2 into phi2
21.854 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
21.854 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
21.854 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
21.854 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.854 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.854 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.854 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
21.855 * [backup-simplify]: Simplify (- 0) into 0
21.855 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.855 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
21.855 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.855 * [backup-simplify]: Simplify 0 into 0
21.855 * [backup-simplify]: Simplify 1 into 1
21.855 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.855 * [backup-simplify]: Simplify lambda1 into lambda1
21.855 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
21.855 * [backup-simplify]: Simplify (* 0 lambda1) into 0
21.855 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
21.856 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
21.856 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda2
21.856 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
21.856 * [taylor]: Taking taylor expansion of 2 in lambda2
21.856 * [backup-simplify]: Simplify 2 into 2
21.856 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
21.856 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
21.856 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.856 * [backup-simplify]: Simplify phi2 into phi2
21.856 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.856 * [backup-simplify]: Simplify phi1 into phi1
21.856 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
21.856 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
21.856 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda2
21.856 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2
21.856 * [taylor]: Taking taylor expansion of 2 in lambda2
21.856 * [backup-simplify]: Simplify 2 into 2
21.856 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2
21.856 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
21.856 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
21.856 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.856 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.856 * [backup-simplify]: Simplify 0.5 into 0.5
21.856 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.856 * [backup-simplify]: Simplify phi1 into phi1
21.856 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.856 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.856 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.856 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
21.856 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
21.856 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.856 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.856 * [backup-simplify]: Simplify 0.5 into 0.5
21.856 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.857 * [backup-simplify]: Simplify phi1 into phi1
21.857 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.857 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.857 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.857 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
21.857 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
21.857 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.857 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.857 * [backup-simplify]: Simplify 0.5 into 0.5
21.857 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.857 * [backup-simplify]: Simplify phi2 into phi2
21.857 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.857 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.857 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.857 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
21.857 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.857 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.857 * [backup-simplify]: Simplify 0.5 into 0.5
21.857 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.857 * [backup-simplify]: Simplify phi2 into phi2
21.857 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.857 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.857 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.857 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.857 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.857 * [backup-simplify]: Simplify 0 into 0
21.857 * [backup-simplify]: Simplify 1 into 1
21.857 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.857 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.858 * [backup-simplify]: Simplify (- 0) into 0
21.858 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.858 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.858 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.858 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.858 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.858 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.858 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.858 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.858 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.859 * [backup-simplify]: Simplify (- 0) into 0
21.859 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.859 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.859 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.859 * [backup-simplify]: Simplify (* 1 1) into 1
21.860 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.860 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda2
21.860 * [taylor]: Taking taylor expansion of 2 in lambda2
21.860 * [backup-simplify]: Simplify 2 into 2
21.860 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda2
21.860 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
21.860 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
21.860 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.860 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.860 * [backup-simplify]: Simplify 0.5 into 0.5
21.860 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.860 * [backup-simplify]: Simplify phi1 into phi1
21.860 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.860 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.860 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.860 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
21.860 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
21.860 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.860 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.860 * [backup-simplify]: Simplify 0.5 into 0.5
21.860 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.860 * [backup-simplify]: Simplify phi1 into phi1
21.860 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.860 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.860 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.860 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
21.860 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
21.860 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.860 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.860 * [backup-simplify]: Simplify 0.5 into 0.5
21.860 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.860 * [backup-simplify]: Simplify phi2 into phi2
21.860 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.860 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.861 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.861 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
21.861 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.861 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.861 * [backup-simplify]: Simplify 0.5 into 0.5
21.861 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.861 * [backup-simplify]: Simplify phi2 into phi2
21.861 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.861 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.861 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.861 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.861 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.861 * [backup-simplify]: Simplify lambda1 into lambda1
21.861 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.861 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.861 * [backup-simplify]: Simplify (- 0) into 0
21.861 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.861 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.861 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.862 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.862 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.862 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.862 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.862 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.862 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.862 * [backup-simplify]: Simplify (- 0) into 0
21.862 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.862 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.862 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.863 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.863 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.863 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
21.863 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.864 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.864 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.864 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.864 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
21.865 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.865 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 0) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.865 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.865 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.866 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
21.867 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
21.867 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
21.868 * [backup-simplify]: Simplify (+ 0) into 0
21.868 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.868 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.869 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.869 * [backup-simplify]: Simplify (- 0) into 0
21.870 * [backup-simplify]: Simplify (+ 0 0) into 0
21.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.870 * [backup-simplify]: Simplify (+ 0) into 0
21.870 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.870 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.871 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.871 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.871 * [backup-simplify]: Simplify (- 0) into 0
21.872 * [backup-simplify]: Simplify (+ 0 0) into 0
21.872 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.872 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
21.872 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.873 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
21.873 * [backup-simplify]: Simplify (+ 0) into 0
21.874 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.874 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.879 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.879 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.880 * [backup-simplify]: Simplify (+ 0 0) into 0
21.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.880 * [backup-simplify]: Simplify (+ 0) into 0
21.880 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.881 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.881 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.881 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.882 * [backup-simplify]: Simplify (+ 0 0) into 0
21.882 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.882 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
21.882 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.883 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
21.883 * [backup-simplify]: Simplify (+ 0 0) into 0
21.884 * [backup-simplify]: Simplify (+ 0 0) into 0
21.884 * [backup-simplify]: Simplify (+ 0 0) into 0
21.884 * [backup-simplify]: Simplify (+ 0 0) into 0
21.884 * [backup-simplify]: Simplify (+ 0 0) into 0
21.885 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
21.885 * [backup-simplify]: Simplify (+ 0) into 0
21.886 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.886 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.887 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.887 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.888 * [backup-simplify]: Simplify (- 0) into 0
21.888 * [backup-simplify]: Simplify (+ 0 0) into 0
21.888 * [backup-simplify]: Simplify (+ 0) into 0
21.889 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.889 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.890 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.890 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.891 * [backup-simplify]: Simplify (+ 0 0) into 0
21.891 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.891 * [backup-simplify]: Simplify (+ 0) into 0
21.892 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.892 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.893 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.893 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.894 * [backup-simplify]: Simplify (+ 0 0) into 0
21.894 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
21.894 * [backup-simplify]: Simplify (+ 0) into 0
21.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.895 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.896 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.896 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.897 * [backup-simplify]: Simplify (- 0) into 0
21.897 * [backup-simplify]: Simplify (+ 0 0) into 0
21.897 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
21.898 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.900 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0
21.900 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
21.901 * [backup-simplify]: Simplify (+ 0 0) into 0
21.901 * [backup-simplify]: Simplify (+ 0 0) into 0
21.902 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
21.902 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
21.903 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
21.905 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
21.905 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in lambda2
21.905 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in lambda2
21.905 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))))) in lambda2
21.905 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
21.905 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
21.905 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
21.905 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
21.905 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.905 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.905 * [backup-simplify]: Simplify 0.5 into 0.5
21.905 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.905 * [backup-simplify]: Simplify phi1 into phi1
21.905 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.905 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.905 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.905 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.905 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.906 * [backup-simplify]: Simplify (- 0) into 0
21.906 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.906 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
21.906 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
21.906 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.906 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.906 * [backup-simplify]: Simplify 0.5 into 0.5
21.906 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.906 * [backup-simplify]: Simplify phi2 into phi2
21.906 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.906 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.906 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.906 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.906 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.907 * [backup-simplify]: Simplify (- 0) into 0
21.907 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.907 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.907 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.907 * [backup-simplify]: Simplify 0 into 0
21.907 * [backup-simplify]: Simplify 1 into 1
21.907 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.907 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.907 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.907 * [backup-simplify]: Simplify (* 1 1) into 1
21.908 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.908 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))))) in lambda2
21.908 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2
21.908 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
21.908 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
21.908 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
21.908 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.908 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.908 * [backup-simplify]: Simplify 0.5 into 0.5
21.908 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.908 * [backup-simplify]: Simplify phi1 into phi1
21.908 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.908 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.908 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.908 * [backup-simplify]: Simplify (- 0) into 0
21.909 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.909 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
21.909 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
21.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.909 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.909 * [backup-simplify]: Simplify 0.5 into 0.5
21.909 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.909 * [backup-simplify]: Simplify phi2 into phi2
21.909 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.909 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.909 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.909 * [backup-simplify]: Simplify (- 0) into 0
21.909 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.909 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.909 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.909 * [backup-simplify]: Simplify lambda1 into lambda1
21.909 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.910 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.910 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.910 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.910 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
21.910 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda2
21.910 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
21.910 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
21.910 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.910 * [backup-simplify]: Simplify phi2 into phi2
21.910 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
21.911 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
21.911 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2
21.911 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2
21.911 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
21.911 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
21.911 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
21.911 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.911 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.911 * [backup-simplify]: Simplify 0.5 into 0.5
21.911 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.911 * [backup-simplify]: Simplify phi1 into phi1
21.911 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.911 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.911 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.911 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.911 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
21.911 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
21.911 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.911 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.911 * [backup-simplify]: Simplify 0.5 into 0.5
21.911 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.911 * [backup-simplify]: Simplify phi2 into phi2
21.911 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.911 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.911 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.912 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.912 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.912 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.912 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.912 * [backup-simplify]: Simplify lambda1 into lambda1
21.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.912 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.912 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.912 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.912 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
21.912 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2
21.912 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
21.912 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
21.912 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.912 * [backup-simplify]: Simplify phi1 into phi1
21.913 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
21.913 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
21.913 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
21.913 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
21.913 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
21.913 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
21.913 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.913 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.913 * [backup-simplify]: Simplify 0.5 into 0.5
21.913 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.913 * [backup-simplify]: Simplify phi1 into phi1
21.913 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.913 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.913 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.913 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.913 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
21.913 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
21.913 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.913 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.913 * [backup-simplify]: Simplify 0.5 into 0.5
21.913 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.913 * [backup-simplify]: Simplify phi2 into phi2
21.913 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.913 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.913 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.914 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.914 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.914 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.914 * [backup-simplify]: Simplify 0 into 0
21.914 * [backup-simplify]: Simplify 1 into 1
21.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.914 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.914 * [backup-simplify]: Simplify (* 1 1) into 1
21.915 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.915 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda2
21.915 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
21.915 * [taylor]: Taking taylor expansion of 2 in lambda2
21.915 * [backup-simplify]: Simplify 2 into 2
21.915 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
21.915 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
21.915 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
21.915 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
21.915 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.915 * [backup-simplify]: Simplify 0.5 into 0.5
21.915 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
21.915 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
21.915 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.915 * [backup-simplify]: Simplify phi1 into phi1
21.915 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
21.915 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
21.915 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.915 * [backup-simplify]: Simplify phi2 into phi2
21.915 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
21.915 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
21.915 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
21.915 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.916 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.916 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.916 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
21.916 * [backup-simplify]: Simplify (- 0) into 0
21.916 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
21.916 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
21.916 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.916 * [backup-simplify]: Simplify 0 into 0
21.916 * [backup-simplify]: Simplify 1 into 1
21.916 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.916 * [backup-simplify]: Simplify lambda1 into lambda1
21.917 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
21.917 * [backup-simplify]: Simplify (* 0 lambda1) into 0
21.917 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
21.917 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
21.917 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda2
21.917 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
21.917 * [taylor]: Taking taylor expansion of 2 in lambda2
21.917 * [backup-simplify]: Simplify 2 into 2
21.917 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
21.917 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
21.917 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.917 * [backup-simplify]: Simplify phi2 into phi2
21.917 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.917 * [backup-simplify]: Simplify phi1 into phi1
21.917 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
21.918 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
21.918 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda2
21.918 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2
21.918 * [taylor]: Taking taylor expansion of 2 in lambda2
21.918 * [backup-simplify]: Simplify 2 into 2
21.918 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2
21.918 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
21.918 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
21.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.918 * [backup-simplify]: Simplify 0.5 into 0.5
21.918 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.918 * [backup-simplify]: Simplify phi1 into phi1
21.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.918 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
21.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
21.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.918 * [backup-simplify]: Simplify 0.5 into 0.5
21.918 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.918 * [backup-simplify]: Simplify phi1 into phi1
21.918 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.918 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
21.918 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
21.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.918 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.918 * [backup-simplify]: Simplify 0.5 into 0.5
21.918 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.918 * [backup-simplify]: Simplify phi2 into phi2
21.918 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.918 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.918 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.918 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
21.918 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.919 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.919 * [backup-simplify]: Simplify 0.5 into 0.5
21.919 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.919 * [backup-simplify]: Simplify phi2 into phi2
21.919 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.919 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.919 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.919 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
21.919 * [taylor]: Taking taylor expansion of lambda2 in lambda2
21.919 * [backup-simplify]: Simplify 0 into 0
21.919 * [backup-simplify]: Simplify 1 into 1
21.919 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.919 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.919 * [backup-simplify]: Simplify (- 0) into 0
21.919 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.920 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.920 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.920 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.920 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.920 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.920 * [backup-simplify]: Simplify (- 0) into 0
21.920 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.920 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.921 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.921 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.921 * [backup-simplify]: Simplify (* 1 1) into 1
21.921 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.921 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda2
21.921 * [taylor]: Taking taylor expansion of 2 in lambda2
21.921 * [backup-simplify]: Simplify 2 into 2
21.921 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda2
21.921 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
21.921 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
21.922 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.922 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.922 * [backup-simplify]: Simplify 0.5 into 0.5
21.922 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.922 * [backup-simplify]: Simplify phi1 into phi1
21.922 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.922 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.922 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.922 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
21.922 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
21.922 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
21.922 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.922 * [backup-simplify]: Simplify 0.5 into 0.5
21.922 * [taylor]: Taking taylor expansion of phi1 in lambda2
21.922 * [backup-simplify]: Simplify phi1 into phi1
21.922 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.922 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.922 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.922 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
21.922 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
21.922 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.922 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.922 * [backup-simplify]: Simplify 0.5 into 0.5
21.922 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.922 * [backup-simplify]: Simplify phi2 into phi2
21.922 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.922 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.922 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.922 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
21.922 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
21.922 * [taylor]: Taking taylor expansion of 0.5 in lambda2
21.922 * [backup-simplify]: Simplify 0.5 into 0.5
21.922 * [taylor]: Taking taylor expansion of phi2 in lambda2
21.922 * [backup-simplify]: Simplify phi2 into phi2
21.922 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
21.922 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.923 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.923 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
21.923 * [taylor]: Taking taylor expansion of lambda1 in lambda2
21.923 * [backup-simplify]: Simplify lambda1 into lambda1
21.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.923 * [backup-simplify]: Simplify (- 0) into 0
21.923 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.923 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.923 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
21.923 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
21.923 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
21.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
21.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
21.924 * [backup-simplify]: Simplify (- 0) into 0
21.924 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
21.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.924 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.924 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.924 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
21.925 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
21.925 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.925 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.926 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.926 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.926 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
21.926 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.927 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 0) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.927 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.927 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.928 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
21.928 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
21.929 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
21.930 * [backup-simplify]: Simplify (+ 0) into 0
21.930 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.930 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.931 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.931 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.931 * [backup-simplify]: Simplify (- 0) into 0
21.931 * [backup-simplify]: Simplify (+ 0 0) into 0
21.931 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.932 * [backup-simplify]: Simplify (+ 0) into 0
21.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.932 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.933 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.933 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.933 * [backup-simplify]: Simplify (- 0) into 0
21.933 * [backup-simplify]: Simplify (+ 0 0) into 0
21.933 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.934 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
21.934 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.935 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
21.935 * [backup-simplify]: Simplify (+ 0) into 0
21.936 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.936 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.936 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.937 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.937 * [backup-simplify]: Simplify (+ 0 0) into 0
21.937 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.937 * [backup-simplify]: Simplify (+ 0) into 0
21.937 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.938 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.938 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.939 * [backup-simplify]: Simplify (+ 0 0) into 0
21.939 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.939 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
21.940 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.940 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
21.941 * [backup-simplify]: Simplify (+ 0 0) into 0
21.941 * [backup-simplify]: Simplify (+ 0 0) into 0
21.941 * [backup-simplify]: Simplify (+ 0 0) into 0
21.941 * [backup-simplify]: Simplify (+ 0 0) into 0
21.942 * [backup-simplify]: Simplify (+ 0 0) into 0
21.942 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
21.942 * [backup-simplify]: Simplify (+ 0) into 0
21.942 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.943 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.943 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.943 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.944 * [backup-simplify]: Simplify (- 0) into 0
21.944 * [backup-simplify]: Simplify (+ 0 0) into 0
21.944 * [backup-simplify]: Simplify (+ 0) into 0
21.944 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
21.944 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
21.945 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.945 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
21.945 * [backup-simplify]: Simplify (+ 0 0) into 0
21.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.946 * [backup-simplify]: Simplify (+ 0) into 0
21.946 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.946 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.947 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.947 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.947 * [backup-simplify]: Simplify (+ 0 0) into 0
21.947 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
21.948 * [backup-simplify]: Simplify (+ 0) into 0
21.948 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.948 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.949 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.949 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.949 * [backup-simplify]: Simplify (- 0) into 0
21.949 * [backup-simplify]: Simplify (+ 0 0) into 0
21.950 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
21.950 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
21.951 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0
21.951 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
21.952 * [backup-simplify]: Simplify (+ 0 0) into 0
21.952 * [backup-simplify]: Simplify (+ 0 0) into 0
21.952 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
21.952 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
21.953 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
21.954 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
21.954 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
21.954 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
21.954 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
21.954 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
21.954 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
21.954 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
21.954 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.954 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.954 * [backup-simplify]: Simplify 0.5 into 0.5
21.954 * [taylor]: Taking taylor expansion of phi1 in phi2
21.954 * [backup-simplify]: Simplify phi1 into phi1
21.954 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.954 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.954 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.955 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.955 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.955 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.955 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
21.955 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
21.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.955 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.955 * [backup-simplify]: Simplify 0.5 into 0.5
21.955 * [taylor]: Taking taylor expansion of phi2 in phi2
21.955 * [backup-simplify]: Simplify 0 into 0
21.955 * [backup-simplify]: Simplify 1 into 1
21.955 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.955 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.955 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
21.955 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
21.955 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
21.955 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.955 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.955 * [backup-simplify]: Simplify 0.5 into 0.5
21.955 * [taylor]: Taking taylor expansion of phi1 in phi2
21.955 * [backup-simplify]: Simplify phi1 into phi1
21.955 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.955 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.956 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.956 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.956 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.956 * [backup-simplify]: Simplify (- 0) into 0
21.956 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.956 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
21.956 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
21.956 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.956 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.956 * [backup-simplify]: Simplify 0.5 into 0.5
21.956 * [taylor]: Taking taylor expansion of phi2 in phi2
21.956 * [backup-simplify]: Simplify 0 into 0
21.956 * [backup-simplify]: Simplify 1 into 1
21.956 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.957 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.957 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
21.957 * [taylor]: Taking taylor expansion of 2 in phi2
21.957 * [backup-simplify]: Simplify 2 into 2
21.957 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
21.957 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
21.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.957 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.957 * [backup-simplify]: Simplify 0.5 into 0.5
21.957 * [taylor]: Taking taylor expansion of phi1 in phi2
21.957 * [backup-simplify]: Simplify phi1 into phi1
21.957 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.957 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.957 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.957 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
21.957 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
21.957 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.957 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.957 * [backup-simplify]: Simplify 0.5 into 0.5
21.957 * [taylor]: Taking taylor expansion of phi1 in phi2
21.957 * [backup-simplify]: Simplify phi1 into phi1
21.957 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.958 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.958 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.958 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
21.958 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
21.958 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.958 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.958 * [backup-simplify]: Simplify 0.5 into 0.5
21.958 * [taylor]: Taking taylor expansion of phi2 in phi2
21.958 * [backup-simplify]: Simplify 0 into 0
21.958 * [backup-simplify]: Simplify 1 into 1
21.959 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.959 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.959 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
21.959 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.959 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.959 * [backup-simplify]: Simplify 0.5 into 0.5
21.959 * [taylor]: Taking taylor expansion of phi2 in phi2
21.959 * [backup-simplify]: Simplify 0 into 0
21.959 * [backup-simplify]: Simplify 1 into 1
21.960 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.960 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.960 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.960 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.960 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.961 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.961 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.962 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
21.962 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.962 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.963 * [backup-simplify]: Simplify (- 0) into 0
21.963 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.963 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.963 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.963 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.964 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.964 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.964 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.965 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
21.967 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
21.968 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
21.968 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
21.969 * [backup-simplify]: Simplify (+ 0) into 0
21.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.970 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.971 * [backup-simplify]: Simplify (+ 0 0) into 0
21.972 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
21.972 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
21.972 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.973 * [backup-simplify]: Simplify (+ 0) into 0
21.973 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.973 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.974 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.975 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.975 * [backup-simplify]: Simplify (- 0) into 0
21.975 * [backup-simplify]: Simplify (+ 0 0) into 0
21.976 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
21.976 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
21.977 * [backup-simplify]: Simplify (+ 0 0) into 0
21.977 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
21.977 * [backup-simplify]: Simplify (+ 0) into 0
21.978 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.978 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.979 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.979 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.980 * [backup-simplify]: Simplify (+ 0 0) into 0
21.980 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
21.980 * [backup-simplify]: Simplify (+ 0) into 0
21.981 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
21.981 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
21.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
21.982 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
21.983 * [backup-simplify]: Simplify (- 0) into 0
21.983 * [backup-simplify]: Simplify (+ 0 0) into 0
21.983 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
21.984 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
21.985 * [backup-simplify]: Simplify (- 0) into 0
21.985 * [backup-simplify]: Simplify (+ 0 0) into 0
21.987 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
21.987 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2
21.987 * [taylor]: Taking taylor expansion of -1 in phi2
21.987 * [backup-simplify]: Simplify -1 into -1
21.987 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2
21.987 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
21.987 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
21.987 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
21.987 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
21.987 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
21.987 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
21.987 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
21.987 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.987 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.987 * [backup-simplify]: Simplify 0.5 into 0.5
21.987 * [taylor]: Taking taylor expansion of phi1 in phi2
21.988 * [backup-simplify]: Simplify phi1 into phi1
21.988 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.988 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.988 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.988 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.988 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.988 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.988 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
21.988 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
21.988 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.988 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.988 * [backup-simplify]: Simplify 0.5 into 0.5
21.988 * [taylor]: Taking taylor expansion of phi2 in phi2
21.988 * [backup-simplify]: Simplify 0 into 0
21.988 * [backup-simplify]: Simplify 1 into 1
21.989 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.989 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.989 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
21.989 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
21.989 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
21.989 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.989 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.989 * [backup-simplify]: Simplify 0.5 into 0.5
21.989 * [taylor]: Taking taylor expansion of phi1 in phi2
21.989 * [backup-simplify]: Simplify phi1 into phi1
21.989 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.990 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.990 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.990 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.990 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.990 * [backup-simplify]: Simplify (- 0) into 0
21.990 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.990 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
21.990 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
21.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.991 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.991 * [backup-simplify]: Simplify 0.5 into 0.5
21.991 * [taylor]: Taking taylor expansion of phi2 in phi2
21.991 * [backup-simplify]: Simplify 0 into 0
21.991 * [backup-simplify]: Simplify 1 into 1
21.991 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.991 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.991 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
21.991 * [taylor]: Taking taylor expansion of 2 in phi2
21.991 * [backup-simplify]: Simplify 2 into 2
21.991 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
21.991 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
21.991 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.992 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.992 * [backup-simplify]: Simplify 0.5 into 0.5
21.992 * [taylor]: Taking taylor expansion of phi1 in phi2
21.992 * [backup-simplify]: Simplify phi1 into phi1
21.992 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.992 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
21.992 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
21.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
21.992 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.992 * [backup-simplify]: Simplify 0.5 into 0.5
21.992 * [taylor]: Taking taylor expansion of phi1 in phi2
21.992 * [backup-simplify]: Simplify phi1 into phi1
21.992 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
21.992 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
21.992 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
21.992 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
21.992 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
21.992 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.993 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.993 * [backup-simplify]: Simplify 0.5 into 0.5
21.993 * [taylor]: Taking taylor expansion of phi2 in phi2
21.993 * [backup-simplify]: Simplify 0 into 0
21.993 * [backup-simplify]: Simplify 1 into 1
21.993 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.993 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
21.993 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
21.993 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
21.993 * [taylor]: Taking taylor expansion of 0.5 in phi2
21.993 * [backup-simplify]: Simplify 0.5 into 0.5
21.993 * [taylor]: Taking taylor expansion of phi2 in phi2
21.993 * [backup-simplify]: Simplify 0 into 0
21.993 * [backup-simplify]: Simplify 1 into 1
21.994 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
21.994 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
21.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
21.994 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
21.995 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
21.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
21.995 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
21.996 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
21.996 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
21.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
21.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
21.997 * [backup-simplify]: Simplify (- 0) into 0
21.997 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
21.997 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
21.997 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
21.998 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
21.998 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
21.998 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
21.998 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
21.999 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
21.999 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.001 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.002 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.004 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.004 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.005 * [backup-simplify]: Simplify (+ 0) into 0
22.005 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.006 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.006 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.007 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.007 * [backup-simplify]: Simplify (+ 0 0) into 0
22.007 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.008 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.008 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.009 * [backup-simplify]: Simplify (+ 0) into 0
22.009 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.009 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.010 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.011 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.011 * [backup-simplify]: Simplify (- 0) into 0
22.012 * [backup-simplify]: Simplify (+ 0 0) into 0
22.012 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.013 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.013 * [backup-simplify]: Simplify (+ 0 0) into 0
22.013 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.014 * [backup-simplify]: Simplify (+ 0) into 0
22.014 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.014 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.015 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.016 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.016 * [backup-simplify]: Simplify (+ 0 0) into 0
22.016 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.017 * [backup-simplify]: Simplify (+ 0) into 0
22.017 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.019 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.020 * [backup-simplify]: Simplify (- 0) into 0
22.020 * [backup-simplify]: Simplify (+ 0 0) into 0
22.020 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.021 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.021 * [backup-simplify]: Simplify (- 0) into 0
22.021 * [backup-simplify]: Simplify (+ 0 0) into 0
22.023 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.024 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.024 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2
22.024 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
22.024 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.024 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.024 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.024 * [backup-simplify]: Simplify 0.5 into 0.5
22.024 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.024 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.024 * [taylor]: Taking taylor expansion of phi1 in phi2
22.024 * [backup-simplify]: Simplify phi1 into phi1
22.024 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.024 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.024 * [taylor]: Taking taylor expansion of phi2 in phi2
22.024 * [backup-simplify]: Simplify 0 into 0
22.024 * [backup-simplify]: Simplify 1 into 1
22.030 * [backup-simplify]: Simplify (/ 1 1) into 1
22.031 * [backup-simplify]: Simplify (+ 0 1) into 1
22.031 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.031 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.031 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.031 * [backup-simplify]: Simplify lambda1 into lambda1
22.031 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.032 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
22.032 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
22.032 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
22.032 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.032 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.032 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.032 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.032 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.032 * [backup-simplify]: Simplify 0.5 into 0.5
22.032 * [taylor]: Taking taylor expansion of phi1 in phi1
22.032 * [backup-simplify]: Simplify 0 into 0
22.032 * [backup-simplify]: Simplify 1 into 1
22.032 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.032 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.033 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.033 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.033 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.033 * [backup-simplify]: Simplify 0.5 into 0.5
22.033 * [taylor]: Taking taylor expansion of phi2 in phi1
22.033 * [backup-simplify]: Simplify phi2 into phi2
22.033 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.033 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.033 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.033 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.033 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.033 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.033 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.033 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.033 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.033 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.033 * [backup-simplify]: Simplify 0.5 into 0.5
22.033 * [taylor]: Taking taylor expansion of phi1 in phi1
22.033 * [backup-simplify]: Simplify 0 into 0
22.033 * [backup-simplify]: Simplify 1 into 1
22.033 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.034 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.034 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.034 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.034 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.034 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.034 * [backup-simplify]: Simplify 0.5 into 0.5
22.034 * [taylor]: Taking taylor expansion of phi2 in phi1
22.034 * [backup-simplify]: Simplify phi2 into phi2
22.034 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.034 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.034 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.034 * [backup-simplify]: Simplify (- 0) into 0
22.034 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.034 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
22.034 * [taylor]: Taking taylor expansion of 2 in phi1
22.034 * [backup-simplify]: Simplify 2 into 2
22.034 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
22.034 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.034 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.034 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.034 * [backup-simplify]: Simplify 0.5 into 0.5
22.034 * [taylor]: Taking taylor expansion of phi1 in phi1
22.035 * [backup-simplify]: Simplify 0 into 0
22.035 * [backup-simplify]: Simplify 1 into 1
22.035 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.035 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.035 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
22.035 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.035 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.035 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.035 * [backup-simplify]: Simplify 0.5 into 0.5
22.035 * [taylor]: Taking taylor expansion of phi1 in phi1
22.035 * [backup-simplify]: Simplify 0 into 0
22.035 * [backup-simplify]: Simplify 1 into 1
22.035 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.035 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.035 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
22.035 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.036 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.036 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.036 * [backup-simplify]: Simplify 0.5 into 0.5
22.036 * [taylor]: Taking taylor expansion of phi2 in phi1
22.036 * [backup-simplify]: Simplify phi2 into phi2
22.036 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.036 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.036 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.036 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.036 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.036 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.036 * [backup-simplify]: Simplify 0.5 into 0.5
22.036 * [taylor]: Taking taylor expansion of phi2 in phi1
22.036 * [backup-simplify]: Simplify phi2 into phi2
22.036 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.036 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.036 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.036 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.036 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.037 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.037 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.037 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.037 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.038 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.038 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.038 * [backup-simplify]: Simplify (- 0) into 0
22.038 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.038 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.039 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.039 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.039 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.040 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.041 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.041 * [backup-simplify]: Simplify (+ 0) into 0
22.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.042 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.043 * [backup-simplify]: Simplify (+ 0 0) into 0
22.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.043 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.043 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.043 * [backup-simplify]: Simplify (+ 0) into 0
22.044 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.044 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.045 * [backup-simplify]: Simplify (- 0) into 0
22.045 * [backup-simplify]: Simplify (+ 0 0) into 0
22.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.045 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.046 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.046 * [backup-simplify]: Simplify (+ 0 0) into 0
22.046 * [backup-simplify]: Simplify (+ 0) into 0
22.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.047 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.048 * [backup-simplify]: Simplify (- 0) into 0
22.048 * [backup-simplify]: Simplify (+ 0 0) into 0
22.048 * [backup-simplify]: Simplify (+ 0) into 0
22.048 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.049 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.049 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.049 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.050 * [backup-simplify]: Simplify (+ 0 0) into 0
22.050 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.050 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.050 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.051 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.051 * [backup-simplify]: Simplify (- 0) into 0
22.051 * [backup-simplify]: Simplify (+ 0 0) into 0
22.052 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
22.053 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.053 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.053 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.054 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.054 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.054 * [backup-simplify]: Simplify (- 0) into 0
22.055 * [backup-simplify]: Simplify (+ 0 0) into 0
22.055 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.056 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.057 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.057 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.057 * [backup-simplify]: Simplify (- 0) into 0
22.057 * [backup-simplify]: Simplify (+ 0 0) into 0
22.058 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.058 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
22.059 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.060 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
22.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.062 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.062 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.063 * [backup-simplify]: Simplify (+ 0 0) into 0
22.064 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.065 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.066 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.066 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.067 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.068 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.069 * [backup-simplify]: Simplify (+ 0 0) into 0
22.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.070 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
22.071 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.073 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
22.073 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) 0) into (/ 1 (pow phi1 2))
22.074 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 1 (pow phi1 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 1 (pow phi1 2)))
22.075 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 1 (pow phi1 2)))) into (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 1 (pow phi1 2))))
22.077 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 1 (pow phi1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))))
22.080 * [backup-simplify]: Simplify (+ 0 (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))))) into (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))))
22.080 * [backup-simplify]: Simplify (+ 0) into 0
22.081 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
22.081 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
22.081 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
22.082 * [backup-simplify]: Simplify (+ 0 0) into 0
22.082 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
22.083 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.084 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
22.084 * [backup-simplify]: Simplify (- 0) into 0
22.084 * [backup-simplify]: Simplify (+ 0 0) into 0
22.085 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
22.086 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
22.086 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
22.087 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
22.087 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
22.088 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.089 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.089 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.090 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.091 * [backup-simplify]: Simplify (- 0) into 0
22.091 * [backup-simplify]: Simplify (+ 0 0) into 0
22.092 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
22.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
22.095 * [backup-simplify]: Simplify (+ 0 0) into 0
22.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.097 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.098 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.099 * [backup-simplify]: Simplify (+ 0 0) into 0
22.100 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.102 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.102 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.103 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.105 * [backup-simplify]: Simplify (- 0) into 0
22.105 * [backup-simplify]: Simplify (+ 0 0) into 0
22.106 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.107 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.109 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
22.109 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
22.110 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
22.110 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
22.111 * [backup-simplify]: Simplify (+ (/ 2 (* phi2 phi1)) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))
22.111 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) into (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))
22.112 * [backup-simplify]: Simplify (- (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) into (- (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))
22.114 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))) (- (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) into (- (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (* 2 (/ 1 (* phi2 phi1)))))
22.119 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi2 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (* 2 (/ 1 (* phi2 phi1))))) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))))
22.119 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))) in phi2
22.119 * [taylor]: Taking taylor expansion of 1/2 in phi2
22.119 * [backup-simplify]: Simplify 1/2 into 1/2
22.119 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))) in phi2
22.119 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
22.119 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
22.119 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.119 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.119 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.119 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.119 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.119 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.119 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.119 * [backup-simplify]: Simplify 0.5 into 0.5
22.119 * [taylor]: Taking taylor expansion of phi1 in phi2
22.119 * [backup-simplify]: Simplify phi1 into phi1
22.119 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.119 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.119 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.119 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.120 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.120 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.120 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.120 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.120 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.120 * [backup-simplify]: Simplify 0.5 into 0.5
22.120 * [taylor]: Taking taylor expansion of phi2 in phi2
22.120 * [backup-simplify]: Simplify 0 into 0
22.120 * [backup-simplify]: Simplify 1 into 1
22.120 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.120 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.120 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.120 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.120 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.120 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.120 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.120 * [backup-simplify]: Simplify 0.5 into 0.5
22.121 * [taylor]: Taking taylor expansion of phi1 in phi2
22.121 * [backup-simplify]: Simplify phi1 into phi1
22.121 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.121 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.121 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.121 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.121 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.121 * [backup-simplify]: Simplify (- 0) into 0
22.121 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.121 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.122 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.122 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.122 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.122 * [backup-simplify]: Simplify 0.5 into 0.5
22.122 * [taylor]: Taking taylor expansion of phi2 in phi2
22.122 * [backup-simplify]: Simplify 0 into 0
22.122 * [backup-simplify]: Simplify 1 into 1
22.122 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.122 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.122 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.122 * [taylor]: Taking taylor expansion of 2 in phi2
22.122 * [backup-simplify]: Simplify 2 into 2
22.122 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.122 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.123 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.123 * [backup-simplify]: Simplify 0.5 into 0.5
22.123 * [taylor]: Taking taylor expansion of phi1 in phi2
22.123 * [backup-simplify]: Simplify phi1 into phi1
22.123 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.123 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.123 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.123 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.123 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.123 * [backup-simplify]: Simplify 0.5 into 0.5
22.123 * [taylor]: Taking taylor expansion of phi1 in phi2
22.123 * [backup-simplify]: Simplify phi1 into phi1
22.123 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.123 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.123 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.123 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.123 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.123 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.123 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.123 * [backup-simplify]: Simplify 0.5 into 0.5
22.123 * [taylor]: Taking taylor expansion of phi2 in phi2
22.123 * [backup-simplify]: Simplify 0 into 0
22.123 * [backup-simplify]: Simplify 1 into 1
22.124 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.124 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.124 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.124 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.124 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.124 * [backup-simplify]: Simplify 0.5 into 0.5
22.124 * [taylor]: Taking taylor expansion of phi2 in phi2
22.124 * [backup-simplify]: Simplify 0 into 0
22.124 * [backup-simplify]: Simplify 1 into 1
22.124 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.124 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.124 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.125 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.125 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.125 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.125 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.125 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.126 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.126 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.126 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.126 * [backup-simplify]: Simplify (- 0) into 0
22.126 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.126 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.127 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.127 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.127 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.127 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.127 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.128 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.128 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.129 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.130 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.130 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.131 * [backup-simplify]: Simplify (+ 0) into 0
22.131 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.131 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.132 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.132 * [backup-simplify]: Simplify (+ 0 0) into 0
22.132 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.133 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.133 * [backup-simplify]: Simplify (+ 0) into 0
22.133 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.134 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.134 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.135 * [backup-simplify]: Simplify (- 0) into 0
22.135 * [backup-simplify]: Simplify (+ 0 0) into 0
22.135 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.135 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.135 * [backup-simplify]: Simplify (+ 0 0) into 0
22.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.136 * [backup-simplify]: Simplify (+ 0) into 0
22.136 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.136 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.137 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.137 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.138 * [backup-simplify]: Simplify (+ 0 0) into 0
22.138 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.138 * [backup-simplify]: Simplify (+ 0) into 0
22.139 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.140 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.140 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.141 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.141 * [backup-simplify]: Simplify (- 0) into 0
22.142 * [backup-simplify]: Simplify (+ 0 0) into 0
22.142 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.143 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.143 * [backup-simplify]: Simplify (- 0) into 0
22.144 * [backup-simplify]: Simplify (+ 0 0) into 0
22.147 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.149 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.149 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2
22.149 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))))) in phi2
22.149 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
22.149 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
22.149 * [taylor]: Taking taylor expansion of phi1 in phi2
22.149 * [backup-simplify]: Simplify phi1 into phi1
22.149 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
22.149 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
22.149 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)))) in phi2
22.149 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2
22.149 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.149 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.149 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.149 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.149 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.150 * [backup-simplify]: Simplify 0.5 into 0.5
22.150 * [taylor]: Taking taylor expansion of phi1 in phi2
22.150 * [backup-simplify]: Simplify phi1 into phi1
22.150 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.150 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.150 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.150 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.150 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.151 * [backup-simplify]: Simplify (- 0) into 0
22.151 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.151 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.151 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.151 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.151 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.151 * [backup-simplify]: Simplify 0.5 into 0.5
22.151 * [taylor]: Taking taylor expansion of phi2 in phi2
22.151 * [backup-simplify]: Simplify 0 into 0
22.151 * [backup-simplify]: Simplify 1 into 1
22.151 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.152 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.152 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
22.152 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.152 * [backup-simplify]: Simplify lambda1 into lambda1
22.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.152 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.152 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.152 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.153 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
22.153 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))) in phi2
22.153 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
22.153 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
22.153 * [taylor]: Taking taylor expansion of phi2 in phi2
22.153 * [backup-simplify]: Simplify 0 into 0
22.153 * [backup-simplify]: Simplify 1 into 1
22.154 * [backup-simplify]: Simplify (* 1 1) into 1
22.154 * [backup-simplify]: Simplify (/ 1 1) into 1
22.154 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2
22.154 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.154 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.154 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.154 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.154 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.154 * [backup-simplify]: Simplify 0.5 into 0.5
22.154 * [taylor]: Taking taylor expansion of phi1 in phi2
22.154 * [backup-simplify]: Simplify phi1 into phi1
22.154 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.155 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.155 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.155 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.155 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.155 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.155 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.155 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.155 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.155 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.155 * [backup-simplify]: Simplify 0.5 into 0.5
22.155 * [taylor]: Taking taylor expansion of phi2 in phi2
22.155 * [backup-simplify]: Simplify 0 into 0
22.155 * [backup-simplify]: Simplify 1 into 1
22.156 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.156 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.156 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
22.156 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.156 * [backup-simplify]: Simplify lambda1 into lambda1
22.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.156 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.157 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.157 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.157 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
22.157 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2
22.157 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
22.157 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2
22.157 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.158 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.158 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.158 * [backup-simplify]: Simplify 0.5 into 0.5
22.158 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.158 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.158 * [taylor]: Taking taylor expansion of phi1 in phi2
22.158 * [backup-simplify]: Simplify phi1 into phi1
22.158 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.158 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.158 * [taylor]: Taking taylor expansion of phi2 in phi2
22.158 * [backup-simplify]: Simplify 0 into 0
22.158 * [backup-simplify]: Simplify 1 into 1
22.158 * [backup-simplify]: Simplify (/ 1 1) into 1
22.159 * [backup-simplify]: Simplify (+ 0 1) into 1
22.159 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.159 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.160 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
22.160 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
22.160 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.160 * [backup-simplify]: Simplify lambda1 into lambda1
22.160 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.160 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.160 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.160 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.160 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.160 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.160 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.160 * [backup-simplify]: Simplify 0.5 into 0.5
22.160 * [taylor]: Taking taylor expansion of phi1 in phi2
22.160 * [backup-simplify]: Simplify phi1 into phi1
22.160 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.160 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.160 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.160 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.161 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.161 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.161 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.161 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.161 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.161 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.161 * [backup-simplify]: Simplify 0.5 into 0.5
22.161 * [taylor]: Taking taylor expansion of phi2 in phi2
22.161 * [backup-simplify]: Simplify 0 into 0
22.161 * [backup-simplify]: Simplify 1 into 1
22.161 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.161 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.162 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.162 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.162 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.162 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.162 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.162 * [backup-simplify]: Simplify 0.5 into 0.5
22.162 * [taylor]: Taking taylor expansion of phi1 in phi2
22.162 * [backup-simplify]: Simplify phi1 into phi1
22.162 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.162 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.162 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.162 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.162 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.163 * [backup-simplify]: Simplify (- 0) into 0
22.163 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.163 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.163 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.163 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.163 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.163 * [backup-simplify]: Simplify 0.5 into 0.5
22.163 * [taylor]: Taking taylor expansion of phi2 in phi2
22.163 * [backup-simplify]: Simplify 0 into 0
22.163 * [backup-simplify]: Simplify 1 into 1
22.163 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.164 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.164 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.164 * [taylor]: Taking taylor expansion of 2 in phi2
22.164 * [backup-simplify]: Simplify 2 into 2
22.164 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.164 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.164 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.164 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.164 * [backup-simplify]: Simplify 0.5 into 0.5
22.164 * [taylor]: Taking taylor expansion of phi1 in phi2
22.164 * [backup-simplify]: Simplify phi1 into phi1
22.164 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.164 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.164 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.164 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.164 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.164 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.164 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.164 * [backup-simplify]: Simplify 0.5 into 0.5
22.164 * [taylor]: Taking taylor expansion of phi1 in phi2
22.164 * [backup-simplify]: Simplify phi1 into phi1
22.164 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.164 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.165 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.165 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.165 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.165 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.165 * [backup-simplify]: Simplify 0.5 into 0.5
22.165 * [taylor]: Taking taylor expansion of phi2 in phi2
22.165 * [backup-simplify]: Simplify 0 into 0
22.165 * [backup-simplify]: Simplify 1 into 1
22.165 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.165 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.165 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.165 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.165 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.165 * [backup-simplify]: Simplify 0.5 into 0.5
22.165 * [taylor]: Taking taylor expansion of phi2 in phi2
22.165 * [backup-simplify]: Simplify 0 into 0
22.165 * [backup-simplify]: Simplify 1 into 1
22.165 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.166 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.166 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.166 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
22.166 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.166 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.167 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.167 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.167 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.167 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.167 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.168 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.168 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.168 * [backup-simplify]: Simplify (- 0) into 0
22.168 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.168 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.168 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.168 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.168 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.168 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.169 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.169 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.169 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.170 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.171 * [backup-simplify]: Simplify (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.172 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2)))
22.172 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2
22.172 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
22.172 * [taylor]: Taking taylor expansion of 2 in phi2
22.172 * [backup-simplify]: Simplify 2 into 2
22.172 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
22.172 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
22.172 * [taylor]: Taking taylor expansion of phi2 in phi2
22.172 * [backup-simplify]: Simplify 0 into 0
22.172 * [backup-simplify]: Simplify 1 into 1
22.172 * [taylor]: Taking taylor expansion of phi1 in phi2
22.172 * [backup-simplify]: Simplify phi1 into phi1
22.172 * [backup-simplify]: Simplify (* 0 phi1) into 0
22.178 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
22.178 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.178 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2
22.178 * [taylor]: Taking taylor expansion of 2 in phi2
22.178 * [backup-simplify]: Simplify 2 into 2
22.178 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2
22.178 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.178 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.178 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.178 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.178 * [backup-simplify]: Simplify 0.5 into 0.5
22.178 * [taylor]: Taking taylor expansion of phi1 in phi2
22.178 * [backup-simplify]: Simplify phi1 into phi1
22.178 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.178 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.178 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.178 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.178 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.178 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.178 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.178 * [backup-simplify]: Simplify 0.5 into 0.5
22.179 * [taylor]: Taking taylor expansion of phi1 in phi2
22.179 * [backup-simplify]: Simplify phi1 into phi1
22.179 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.179 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.179 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.179 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.179 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.179 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.179 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.179 * [backup-simplify]: Simplify 0.5 into 0.5
22.179 * [taylor]: Taking taylor expansion of phi2 in phi2
22.179 * [backup-simplify]: Simplify 0 into 0
22.179 * [backup-simplify]: Simplify 1 into 1
22.179 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.179 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.179 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.179 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.179 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.179 * [backup-simplify]: Simplify 0.5 into 0.5
22.179 * [taylor]: Taking taylor expansion of phi2 in phi2
22.180 * [backup-simplify]: Simplify 0 into 0
22.180 * [backup-simplify]: Simplify 1 into 1
22.180 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.180 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.180 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
22.180 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.180 * [backup-simplify]: Simplify lambda1 into lambda1
22.180 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.180 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.180 * [backup-simplify]: Simplify (- 0) into 0
22.180 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.181 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.181 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.181 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.181 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.181 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
22.182 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
22.182 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
22.183 * [backup-simplify]: Simplify (+ 0 0) into 0
22.183 * [backup-simplify]: Simplify (+ 0 0) into 0
22.183 * [backup-simplify]: Simplify (+ 0 0) into 0
22.183 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
22.183 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1))
22.183 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1))
22.183 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
22.183 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
22.184 * [backup-simplify]: Simplify (+ 1 0) into 1
22.184 * [backup-simplify]: Simplify (+ 0 1) into 1
22.184 * [backup-simplify]: Simplify (+ 0 1) into 1
22.185 * [backup-simplify]: Simplify (+ 1 0) into 1
22.186 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (- (* 2 (/ 1 phi1)))) (* 0 1)) into (- (* 2 (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))
22.187 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.189 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1)))
22.189 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1))) in phi1
22.189 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 phi1)) in phi1
22.189 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
22.189 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
22.189 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
22.189 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.189 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.189 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.189 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.189 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.189 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.189 * [backup-simplify]: Simplify 0.5 into 0.5
22.189 * [taylor]: Taking taylor expansion of phi1 in phi1
22.189 * [backup-simplify]: Simplify 0 into 0
22.189 * [backup-simplify]: Simplify 1 into 1
22.190 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.190 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.190 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.190 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.190 * [backup-simplify]: Simplify 0.5 into 0.5
22.190 * [taylor]: Taking taylor expansion of phi2 in phi1
22.190 * [backup-simplify]: Simplify phi2 into phi2
22.190 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.190 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.190 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.190 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.190 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.190 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.190 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.190 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.190 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.190 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.190 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.190 * [backup-simplify]: Simplify 0.5 into 0.5
22.190 * [taylor]: Taking taylor expansion of phi1 in phi1
22.190 * [backup-simplify]: Simplify 0 into 0
22.190 * [backup-simplify]: Simplify 1 into 1
22.191 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.191 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.191 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.191 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.191 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.191 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.191 * [backup-simplify]: Simplify 0.5 into 0.5
22.191 * [taylor]: Taking taylor expansion of phi2 in phi1
22.191 * [backup-simplify]: Simplify phi2 into phi2
22.191 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.191 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.191 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.191 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.191 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.191 * [backup-simplify]: Simplify (- 0) into 0
22.191 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.191 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
22.191 * [taylor]: Taking taylor expansion of 2 in phi1
22.191 * [backup-simplify]: Simplify 2 into 2
22.191 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
22.192 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.192 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.192 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.192 * [backup-simplify]: Simplify 0.5 into 0.5
22.192 * [taylor]: Taking taylor expansion of phi1 in phi1
22.192 * [backup-simplify]: Simplify 0 into 0
22.192 * [backup-simplify]: Simplify 1 into 1
22.192 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.192 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.192 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
22.192 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.192 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.192 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.192 * [backup-simplify]: Simplify 0.5 into 0.5
22.192 * [taylor]: Taking taylor expansion of phi1 in phi1
22.192 * [backup-simplify]: Simplify 0 into 0
22.192 * [backup-simplify]: Simplify 1 into 1
22.192 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.192 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.193 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
22.193 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.193 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.193 * [backup-simplify]: Simplify 0.5 into 0.5
22.193 * [taylor]: Taking taylor expansion of phi2 in phi1
22.193 * [backup-simplify]: Simplify phi2 into phi2
22.193 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.193 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.193 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.193 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.193 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.193 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.193 * [backup-simplify]: Simplify 0.5 into 0.5
22.193 * [taylor]: Taking taylor expansion of phi2 in phi1
22.193 * [backup-simplify]: Simplify phi2 into phi2
22.193 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.193 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.193 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.193 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.193 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.194 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.194 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.194 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.194 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.195 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.195 * [backup-simplify]: Simplify (- 0) into 0
22.195 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.195 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.195 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.196 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.196 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.197 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.199 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.201 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.201 * [backup-simplify]: Simplify (+ 0) into 0
22.202 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.202 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.203 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.203 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.204 * [backup-simplify]: Simplify (+ 0 0) into 0
22.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.204 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.205 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.205 * [backup-simplify]: Simplify (+ 0) into 0
22.206 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.206 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.207 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.207 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.208 * [backup-simplify]: Simplify (- 0) into 0
22.208 * [backup-simplify]: Simplify (+ 0 0) into 0
22.208 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.209 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.209 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.209 * [backup-simplify]: Simplify (+ 0 0) into 0
22.210 * [backup-simplify]: Simplify (+ 0) into 0
22.210 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.211 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.211 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.212 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.212 * [backup-simplify]: Simplify (- 0) into 0
22.213 * [backup-simplify]: Simplify (+ 0 0) into 0
22.213 * [backup-simplify]: Simplify (+ 0) into 0
22.214 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.214 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.215 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.215 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.215 * [backup-simplify]: Simplify (+ 0 0) into 0
22.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.216 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.216 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.217 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.218 * [backup-simplify]: Simplify (- 0) into 0
22.218 * [backup-simplify]: Simplify (+ 0 0) into 0
22.221 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.223 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.223 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
22.223 * [taylor]: Taking taylor expansion of phi1 in phi1
22.223 * [backup-simplify]: Simplify 0 into 0
22.223 * [backup-simplify]: Simplify 1 into 1
22.224 * [backup-simplify]: Simplify (/ 1 1) into 1
22.226 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.227 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
22.227 * [taylor]: Taking taylor expansion of (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda1
22.227 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1
22.227 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
22.227 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
22.228 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
22.228 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
22.228 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
22.228 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
22.228 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.228 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.228 * [backup-simplify]: Simplify 0.5 into 0.5
22.228 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.228 * [backup-simplify]: Simplify phi1 into phi1
22.228 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.228 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.228 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.228 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.228 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.228 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.229 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
22.229 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
22.229 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.229 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.229 * [backup-simplify]: Simplify 0.5 into 0.5
22.229 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.229 * [backup-simplify]: Simplify phi2 into phi2
22.229 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.229 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.229 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.229 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.229 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.229 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.229 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
22.229 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
22.229 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
22.229 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.230 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.230 * [backup-simplify]: Simplify 0.5 into 0.5
22.230 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.230 * [backup-simplify]: Simplify phi1 into phi1
22.230 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.230 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.230 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.230 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.230 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.231 * [backup-simplify]: Simplify (- 0) into 0
22.231 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.231 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
22.231 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
22.231 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.231 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.231 * [backup-simplify]: Simplify 0.5 into 0.5
22.231 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.231 * [backup-simplify]: Simplify phi2 into phi2
22.231 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.231 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.231 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.231 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.232 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.232 * [backup-simplify]: Simplify (- 0) into 0
22.232 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.232 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
22.232 * [taylor]: Taking taylor expansion of 2 in lambda1
22.232 * [backup-simplify]: Simplify 2 into 2
22.232 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
22.232 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
22.232 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.232 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.232 * [backup-simplify]: Simplify 0.5 into 0.5
22.232 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.232 * [backup-simplify]: Simplify phi1 into phi1
22.233 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.233 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
22.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
22.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.233 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.233 * [backup-simplify]: Simplify 0.5 into 0.5
22.233 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.233 * [backup-simplify]: Simplify phi1 into phi1
22.233 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.233 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.233 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.233 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
22.233 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
22.233 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.233 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.233 * [backup-simplify]: Simplify 0.5 into 0.5
22.233 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.233 * [backup-simplify]: Simplify phi2 into phi2
22.234 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.234 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.234 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
22.234 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.234 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.234 * [backup-simplify]: Simplify 0.5 into 0.5
22.234 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.234 * [backup-simplify]: Simplify phi2 into phi2
22.234 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.234 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.234 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.234 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.235 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.235 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.235 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.236 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.237 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.237 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.237 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.237 * [backup-simplify]: Simplify (- 0) into 0
22.238 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.238 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.238 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.238 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.238 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.239 * [backup-simplify]: Simplify (- 0) into 0
22.239 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.239 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.240 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.240 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.240 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.241 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.243 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.244 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.246 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.246 * [backup-simplify]: Simplify (+ 0) into 0
22.247 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.247 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.249 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.249 * [backup-simplify]: Simplify (+ 0 0) into 0
22.249 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.250 * [backup-simplify]: Simplify (+ 0) into 0
22.250 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.250 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.252 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.252 * [backup-simplify]: Simplify (+ 0 0) into 0
22.252 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.253 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.253 * [backup-simplify]: Simplify (+ 0) into 0
22.254 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.254 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.255 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.255 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.256 * [backup-simplify]: Simplify (- 0) into 0
22.256 * [backup-simplify]: Simplify (+ 0 0) into 0
22.256 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.257 * [backup-simplify]: Simplify (+ 0) into 0
22.257 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.257 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.257 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.258 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.258 * [backup-simplify]: Simplify (- 0) into 0
22.258 * [backup-simplify]: Simplify (+ 0 0) into 0
22.258 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.259 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.259 * [backup-simplify]: Simplify (+ 0 0) into 0
22.259 * [backup-simplify]: Simplify (+ 0) into 0
22.260 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.260 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.261 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.261 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.261 * [backup-simplify]: Simplify (- 0) into 0
22.261 * [backup-simplify]: Simplify (+ 0 0) into 0
22.262 * [backup-simplify]: Simplify (+ 0) into 0
22.262 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.262 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.263 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.263 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.263 * [backup-simplify]: Simplify (+ 0 0) into 0
22.263 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.264 * [backup-simplify]: Simplify (+ 0) into 0
22.264 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.264 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.265 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.265 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.265 * [backup-simplify]: Simplify (+ 0 0) into 0
22.265 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.266 * [backup-simplify]: Simplify (+ 0) into 0
22.266 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.266 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.266 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.267 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.267 * [backup-simplify]: Simplify (- 0) into 0
22.267 * [backup-simplify]: Simplify (+ 0 0) into 0
22.268 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.268 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.268 * [backup-simplify]: Simplify (- 0) into 0
22.269 * [backup-simplify]: Simplify (+ 0 0) into 0
22.270 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.271 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.272 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
22.274 * [backup-simplify]: Simplify (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
22.274 * [taylor]: Taking taylor expansion of (* -1 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
22.274 * [taylor]: Taking taylor expansion of -1 in phi1
22.274 * [backup-simplify]: Simplify -1 into -1
22.274 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
22.274 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1
22.274 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
22.274 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
22.274 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
22.274 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.274 * [backup-simplify]: Simplify 0.5 into 0.5
22.274 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
22.274 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
22.274 * [taylor]: Taking taylor expansion of phi1 in phi1
22.274 * [backup-simplify]: Simplify 0 into 0
22.274 * [backup-simplify]: Simplify 1 into 1
22.274 * [backup-simplify]: Simplify (/ 1 1) into 1
22.274 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
22.274 * [taylor]: Taking taylor expansion of phi2 in phi1
22.274 * [backup-simplify]: Simplify phi2 into phi2
22.274 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
22.275 * [backup-simplify]: Simplify (+ 1 0) into 1
22.275 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.275 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.275 * [taylor]: Taking taylor expansion of lambda1 in phi1
22.275 * [backup-simplify]: Simplify lambda1 into lambda1
22.275 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.276 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
22.276 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
22.276 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
22.276 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
22.276 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.276 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.276 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.276 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.276 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.276 * [backup-simplify]: Simplify 0.5 into 0.5
22.276 * [taylor]: Taking taylor expansion of phi1 in phi1
22.276 * [backup-simplify]: Simplify 0 into 0
22.276 * [backup-simplify]: Simplify 1 into 1
22.276 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.276 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.276 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.276 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.276 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.276 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.276 * [backup-simplify]: Simplify 0.5 into 0.5
22.276 * [taylor]: Taking taylor expansion of phi2 in phi1
22.276 * [backup-simplify]: Simplify phi2 into phi2
22.276 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.277 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.277 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.277 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.277 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.277 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.277 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.277 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.277 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.277 * [backup-simplify]: Simplify 0.5 into 0.5
22.277 * [taylor]: Taking taylor expansion of phi1 in phi1
22.277 * [backup-simplify]: Simplify 0 into 0
22.277 * [backup-simplify]: Simplify 1 into 1
22.277 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.277 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.277 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.277 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.277 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.277 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.277 * [backup-simplify]: Simplify 0.5 into 0.5
22.277 * [taylor]: Taking taylor expansion of phi2 in phi1
22.277 * [backup-simplify]: Simplify phi2 into phi2
22.278 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.278 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.278 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.278 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.278 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.278 * [backup-simplify]: Simplify (- 0) into 0
22.278 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.278 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
22.278 * [taylor]: Taking taylor expansion of 2 in phi1
22.278 * [backup-simplify]: Simplify 2 into 2
22.278 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
22.278 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.278 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.278 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.278 * [backup-simplify]: Simplify 0.5 into 0.5
22.278 * [taylor]: Taking taylor expansion of phi1 in phi1
22.278 * [backup-simplify]: Simplify 0 into 0
22.278 * [backup-simplify]: Simplify 1 into 1
22.279 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.279 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.279 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
22.279 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.279 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.279 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.279 * [backup-simplify]: Simplify 0.5 into 0.5
22.279 * [taylor]: Taking taylor expansion of phi1 in phi1
22.279 * [backup-simplify]: Simplify 0 into 0
22.279 * [backup-simplify]: Simplify 1 into 1
22.279 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.279 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.279 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
22.279 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.279 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.279 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.279 * [backup-simplify]: Simplify 0.5 into 0.5
22.279 * [taylor]: Taking taylor expansion of phi2 in phi1
22.279 * [backup-simplify]: Simplify phi2 into phi2
22.279 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.279 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.279 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.279 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.280 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.280 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.280 * [backup-simplify]: Simplify 0.5 into 0.5
22.280 * [taylor]: Taking taylor expansion of phi2 in phi1
22.280 * [backup-simplify]: Simplify phi2 into phi2
22.280 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.280 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.280 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.280 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.280 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.280 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.280 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.281 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.281 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.281 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.281 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.281 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.282 * [backup-simplify]: Simplify (- 0) into 0
22.282 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.282 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.282 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.282 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.283 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.284 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.285 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.286 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.287 * [backup-simplify]: Simplify (+ 0) into 0
22.287 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.287 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.288 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.288 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.288 * [backup-simplify]: Simplify (+ 0 0) into 0
22.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.289 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.289 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.289 * [backup-simplify]: Simplify (+ 0) into 0
22.290 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.290 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.290 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.291 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.291 * [backup-simplify]: Simplify (- 0) into 0
22.291 * [backup-simplify]: Simplify (+ 0 0) into 0
22.291 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.292 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.292 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.292 * [backup-simplify]: Simplify (+ 0 0) into 0
22.292 * [backup-simplify]: Simplify (+ 0) into 0
22.293 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.293 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.294 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.294 * [backup-simplify]: Simplify (- 0) into 0
22.295 * [backup-simplify]: Simplify (+ 0 0) into 0
22.295 * [backup-simplify]: Simplify (+ 0) into 0
22.295 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.295 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.296 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.297 * [backup-simplify]: Simplify (+ 0 0) into 0
22.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.297 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.297 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.298 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.299 * [backup-simplify]: Simplify (- 0) into 0
22.299 * [backup-simplify]: Simplify (+ 0 0) into 0
22.302 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.304 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.304 * [taylor]: Taking taylor expansion of 0 in phi1
22.304 * [backup-simplify]: Simplify 0 into 0
22.304 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
22.304 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
22.304 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
22.304 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
22.304 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
22.304 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
22.304 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.304 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.304 * [backup-simplify]: Simplify 0.5 into 0.5
22.304 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.305 * [backup-simplify]: Simplify phi1 into phi1
22.305 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.305 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.305 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.305 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
22.305 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
22.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.305 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.305 * [backup-simplify]: Simplify 0.5 into 0.5
22.305 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.305 * [backup-simplify]: Simplify phi2 into phi2
22.305 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.305 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.305 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.305 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.305 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.305 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.305 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
22.305 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
22.305 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
22.305 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.305 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.305 * [backup-simplify]: Simplify 0.5 into 0.5
22.305 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.306 * [backup-simplify]: Simplify phi1 into phi1
22.306 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.306 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.306 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.306 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.306 * [backup-simplify]: Simplify (- 0) into 0
22.306 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.306 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
22.306 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
22.306 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.306 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.306 * [backup-simplify]: Simplify 0.5 into 0.5
22.306 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.306 * [backup-simplify]: Simplify phi2 into phi2
22.306 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.306 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.307 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.307 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.307 * [backup-simplify]: Simplify (- 0) into 0
22.307 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.307 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
22.307 * [taylor]: Taking taylor expansion of 2 in lambda1
22.307 * [backup-simplify]: Simplify 2 into 2
22.307 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
22.307 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
22.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.307 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.307 * [backup-simplify]: Simplify 0.5 into 0.5
22.307 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.307 * [backup-simplify]: Simplify phi1 into phi1
22.307 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.307 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.307 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.307 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
22.307 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
22.307 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.307 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.308 * [backup-simplify]: Simplify 0.5 into 0.5
22.308 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.308 * [backup-simplify]: Simplify phi1 into phi1
22.308 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.308 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.308 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
22.308 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
22.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.308 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.308 * [backup-simplify]: Simplify 0.5 into 0.5
22.308 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.308 * [backup-simplify]: Simplify phi2 into phi2
22.308 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.308 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.308 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
22.308 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.308 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.308 * [backup-simplify]: Simplify 0.5 into 0.5
22.308 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.308 * [backup-simplify]: Simplify phi2 into phi2
22.308 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.308 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.308 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.308 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.309 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.309 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.309 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.310 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.310 * [backup-simplify]: Simplify (- 0) into 0
22.310 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.310 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.310 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.311 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.311 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.311 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.311 * [backup-simplify]: Simplify (- 0) into 0
22.311 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.311 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.312 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.312 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.312 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.313 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.314 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.314 * [backup-simplify]: Simplify (+ 0) into 0
22.314 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.315 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.315 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.316 * [backup-simplify]: Simplify (+ 0 0) into 0
22.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.316 * [backup-simplify]: Simplify (+ 0) into 0
22.316 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.316 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.317 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.317 * [backup-simplify]: Simplify (+ 0 0) into 0
22.318 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.318 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.318 * [backup-simplify]: Simplify (+ 0) into 0
22.318 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.319 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.324 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.324 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.325 * [backup-simplify]: Simplify (- 0) into 0
22.325 * [backup-simplify]: Simplify (+ 0 0) into 0
22.325 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.325 * [backup-simplify]: Simplify (+ 0) into 0
22.326 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.326 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.326 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.327 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.327 * [backup-simplify]: Simplify (- 0) into 0
22.327 * [backup-simplify]: Simplify (+ 0 0) into 0
22.327 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.328 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.328 * [backup-simplify]: Simplify (+ 0 0) into 0
22.328 * [backup-simplify]: Simplify (+ 0) into 0
22.329 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.329 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.329 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.329 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.330 * [backup-simplify]: Simplify (- 0) into 0
22.330 * [backup-simplify]: Simplify (+ 0 0) into 0
22.330 * [backup-simplify]: Simplify (+ 0) into 0
22.331 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.331 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.331 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.332 * [backup-simplify]: Simplify (+ 0 0) into 0
22.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.332 * [backup-simplify]: Simplify (+ 0) into 0
22.332 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.333 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.333 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.334 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.334 * [backup-simplify]: Simplify (+ 0 0) into 0
22.334 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.335 * [backup-simplify]: Simplify (+ 0) into 0
22.335 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.336 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.336 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.337 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.337 * [backup-simplify]: Simplify (- 0) into 0
22.337 * [backup-simplify]: Simplify (+ 0 0) into 0
22.338 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.338 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.339 * [backup-simplify]: Simplify (- 0) into 0
22.339 * [backup-simplify]: Simplify (+ 0 0) into 0
22.341 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
22.342 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
22.343 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.343 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.344 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
22.345 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
22.345 * [backup-simplify]: Simplify (- 0) into 0
22.346 * [backup-simplify]: Simplify (+ 0 0) into 0
22.347 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0
22.347 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
22.348 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.348 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.350 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
22.350 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
22.351 * [backup-simplify]: Simplify (- 0) into 0
22.351 * [backup-simplify]: Simplify (+ 0 0) into 0
22.352 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1)))))) into 0
22.353 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))))) into 0
22.354 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.356 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
22.356 * [backup-simplify]: Simplify (+ 0) into 0
22.357 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.357 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.357 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.358 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.358 * [backup-simplify]: Simplify (- 0) into 0
22.358 * [backup-simplify]: Simplify (+ 0 0) into 0
22.358 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.358 * [backup-simplify]: Simplify (+ 0) into 0
22.359 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.359 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.359 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.360 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.360 * [backup-simplify]: Simplify (- 0) into 0
22.360 * [backup-simplify]: Simplify (+ 0 0) into 0
22.361 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.361 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.361 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
22.361 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
22.362 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
22.362 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0
22.362 * [backup-simplify]: Simplify (+ 0) into 0
22.362 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.362 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.363 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.363 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.363 * [backup-simplify]: Simplify (+ 0 0) into 0
22.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.364 * [backup-simplify]: Simplify (+ 0) into 0
22.364 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.364 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.365 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.365 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.365 * [backup-simplify]: Simplify (+ 0 0) into 0
22.365 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.366 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.366 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
22.366 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
22.367 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
22.367 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0
22.367 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
22.368 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.368 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.369 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
22.369 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
22.370 * [backup-simplify]: Simplify (+ 0 0) into 0
22.370 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2)))))) into 0
22.371 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
22.371 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.371 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.373 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
22.374 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
22.374 * [backup-simplify]: Simplify (+ 0 0) into 0
22.375 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1)))))) into 0
22.375 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))))) into 0
22.376 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.378 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
22.378 * [backup-simplify]: Simplify (+ 0 0) into 0
22.378 * [backup-simplify]: Simplify (+ 0 0) into 0
22.378 * [backup-simplify]: Simplify (+ 0 0) into 0
22.379 * [backup-simplify]: Simplify (+ 0 0) into 0
22.379 * [backup-simplify]: Simplify (+ 0 0) into 0
22.380 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.380 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
22.380 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.380 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.381 * [backup-simplify]: Simplify (+ 0 0) into 0
22.381 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
22.382 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.382 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
22.382 * [backup-simplify]: Simplify (- 0) into 0
22.383 * [backup-simplify]: Simplify (+ 0 0) into 0
22.383 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
22.384 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0
22.384 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0
22.385 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0
22.385 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
22.385 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0
22.385 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0
22.386 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
22.387 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.387 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.388 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
22.388 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
22.388 * [backup-simplify]: Simplify (- 0) into 0
22.389 * [backup-simplify]: Simplify (+ 0 0) into 0
22.389 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
22.390 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.390 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
22.391 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
22.391 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
22.392 * [backup-simplify]: Simplify (+ 0 0) into 0
22.392 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2)))))) into 0
22.393 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
22.393 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.393 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.394 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
22.395 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
22.395 * [backup-simplify]: Simplify (+ 0 0) into 0
22.396 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.396 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
22.397 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.397 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.398 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
22.398 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
22.398 * [backup-simplify]: Simplify (- 0) into 0
22.399 * [backup-simplify]: Simplify (+ 0 0) into 0
22.399 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
22.400 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
22.401 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
22.402 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0
22.402 * [backup-simplify]: Simplify (+ 0) into 0
22.403 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.403 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.403 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.404 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.404 * [backup-simplify]: Simplify (- 0) into 0
22.404 * [backup-simplify]: Simplify (+ 0 0) into 0
22.404 * [backup-simplify]: Simplify (+ 0) into 0
22.405 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.405 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.406 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.407 * [backup-simplify]: Simplify (+ 0 0) into 0
22.407 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.407 * [backup-simplify]: Simplify (+ 0) into 0
22.408 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.408 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.409 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.410 * [backup-simplify]: Simplify (+ 0 0) into 0
22.410 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.410 * [backup-simplify]: Simplify (+ 0) into 0
22.411 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.412 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.413 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.413 * [backup-simplify]: Simplify (- 0) into 0
22.413 * [backup-simplify]: Simplify (+ 0 0) into 0
22.414 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.414 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
22.415 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
22.416 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into 0
22.416 * [backup-simplify]: Simplify (+ 0 0) into 0
22.417 * [backup-simplify]: Simplify (+ 0 0) into 0
22.417 * [backup-simplify]: Simplify (+ 0 0) into 0
22.417 * [backup-simplify]: Simplify (- 0) into 0
22.418 * [backup-simplify]: Simplify (+ 0 0) into 0
22.434 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* 2 (/ 1 (* phi2 phi1))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))))))))) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* 1/2 (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
22.434 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2
22.434 * [taylor]: Taking taylor expansion of 1/2 in phi2
22.434 * [backup-simplify]: Simplify 1/2 into 1/2
22.434 * [taylor]: Taking taylor expansion of (* (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2
22.435 * [taylor]: Taking taylor expansion of (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))))))) in phi2
22.435 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi2
22.435 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2
22.435 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
22.435 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.435 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.435 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.435 * [backup-simplify]: Simplify 0.5 into 0.5
22.435 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.435 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.435 * [taylor]: Taking taylor expansion of phi1 in phi2
22.435 * [backup-simplify]: Simplify phi1 into phi1
22.435 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.435 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.435 * [taylor]: Taking taylor expansion of phi2 in phi2
22.435 * [backup-simplify]: Simplify 0 into 0
22.435 * [backup-simplify]: Simplify 1 into 1
22.436 * [backup-simplify]: Simplify (/ 1 1) into 1
22.437 * [backup-simplify]: Simplify (+ 0 1) into 1
22.437 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.437 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.437 * [taylor]: Taking taylor expansion of (* (pow phi2 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
22.437 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
22.437 * [taylor]: Taking taylor expansion of phi2 in phi2
22.437 * [backup-simplify]: Simplify 0 into 0
22.437 * [backup-simplify]: Simplify 1 into 1
22.437 * [taylor]: Taking taylor expansion of (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
22.438 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.438 * [backup-simplify]: Simplify lambda1 into lambda1
22.438 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.438 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.438 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.438 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.438 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.438 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.438 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.438 * [backup-simplify]: Simplify 0.5 into 0.5
22.438 * [taylor]: Taking taylor expansion of phi1 in phi2
22.438 * [backup-simplify]: Simplify phi1 into phi1
22.438 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.438 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.438 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.438 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.438 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.439 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.439 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.439 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.439 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.439 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.439 * [backup-simplify]: Simplify 0.5 into 0.5
22.439 * [taylor]: Taking taylor expansion of phi2 in phi2
22.439 * [backup-simplify]: Simplify 0 into 0
22.439 * [backup-simplify]: Simplify 1 into 1
22.439 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.440 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.440 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.440 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.440 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.440 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.440 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.440 * [backup-simplify]: Simplify 0.5 into 0.5
22.440 * [taylor]: Taking taylor expansion of phi1 in phi2
22.440 * [backup-simplify]: Simplify phi1 into phi1
22.440 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.440 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.440 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.440 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.440 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.441 * [backup-simplify]: Simplify (- 0) into 0
22.441 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.441 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.441 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.441 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.441 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.441 * [backup-simplify]: Simplify 0.5 into 0.5
22.441 * [taylor]: Taking taylor expansion of phi2 in phi2
22.441 * [backup-simplify]: Simplify 0 into 0
22.441 * [backup-simplify]: Simplify 1 into 1
22.442 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.442 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.442 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.442 * [taylor]: Taking taylor expansion of 2 in phi2
22.442 * [backup-simplify]: Simplify 2 into 2
22.442 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.442 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.442 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.442 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.442 * [backup-simplify]: Simplify 0.5 into 0.5
22.442 * [taylor]: Taking taylor expansion of phi1 in phi2
22.442 * [backup-simplify]: Simplify phi1 into phi1
22.442 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.442 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.442 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.442 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.443 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.443 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.443 * [backup-simplify]: Simplify 0.5 into 0.5
22.443 * [taylor]: Taking taylor expansion of phi1 in phi2
22.443 * [backup-simplify]: Simplify phi1 into phi1
22.443 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.443 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.443 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.443 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.443 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.443 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.443 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.443 * [backup-simplify]: Simplify 0.5 into 0.5
22.443 * [taylor]: Taking taylor expansion of phi2 in phi2
22.443 * [backup-simplify]: Simplify 0 into 0
22.443 * [backup-simplify]: Simplify 1 into 1
22.444 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.444 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.444 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.444 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.444 * [backup-simplify]: Simplify 0.5 into 0.5
22.444 * [taylor]: Taking taylor expansion of phi2 in phi2
22.444 * [backup-simplify]: Simplify 0 into 0
22.444 * [backup-simplify]: Simplify 1 into 1
22.451 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.452 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.452 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.453 * [backup-simplify]: Simplify (* 1 1) into 1
22.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.453 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.454 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.454 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.454 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.455 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.456 * [backup-simplify]: Simplify (- 0) into 0
22.456 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.456 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.457 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.458 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.459 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.460 * [backup-simplify]: Simplify (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.462 * [backup-simplify]: Simplify (* 1 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.463 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))
22.463 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi2
22.463 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) in phi2
22.464 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2
22.464 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.464 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.464 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.464 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.464 * [backup-simplify]: Simplify 0.5 into 0.5
22.464 * [taylor]: Taking taylor expansion of phi1 in phi2
22.464 * [backup-simplify]: Simplify phi1 into phi1
22.464 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.464 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.464 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.464 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.464 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.465 * [backup-simplify]: Simplify (- 0) into 0
22.465 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.465 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2
22.465 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.465 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.465 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.465 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.465 * [backup-simplify]: Simplify 0.5 into 0.5
22.465 * [taylor]: Taking taylor expansion of phi2 in phi2
22.465 * [backup-simplify]: Simplify 0 into 0
22.465 * [backup-simplify]: Simplify 1 into 1
22.466 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.466 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.466 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
22.466 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.466 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.466 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.466 * [backup-simplify]: Simplify 0.5 into 0.5
22.466 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.466 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.466 * [taylor]: Taking taylor expansion of phi1 in phi2
22.466 * [backup-simplify]: Simplify phi1 into phi1
22.466 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.466 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.466 * [taylor]: Taking taylor expansion of phi2 in phi2
22.466 * [backup-simplify]: Simplify 0 into 0
22.466 * [backup-simplify]: Simplify 1 into 1
22.466 * [backup-simplify]: Simplify (/ 1 1) into 1
22.467 * [backup-simplify]: Simplify (+ 0 1) into 1
22.467 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.467 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.468 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)) in phi2
22.468 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.468 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.468 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.468 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.468 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.468 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.468 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.468 * [backup-simplify]: Simplify 0.5 into 0.5
22.468 * [taylor]: Taking taylor expansion of phi1 in phi2
22.468 * [backup-simplify]: Simplify phi1 into phi1
22.468 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.468 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.468 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.468 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.468 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.468 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.468 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.468 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.469 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.469 * [backup-simplify]: Simplify 0.5 into 0.5
22.469 * [taylor]: Taking taylor expansion of phi2 in phi2
22.469 * [backup-simplify]: Simplify 0 into 0
22.469 * [backup-simplify]: Simplify 1 into 1
22.469 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.469 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.469 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.469 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.469 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.469 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.469 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.469 * [backup-simplify]: Simplify 0.5 into 0.5
22.469 * [taylor]: Taking taylor expansion of phi1 in phi2
22.469 * [backup-simplify]: Simplify phi1 into phi1
22.469 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.469 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.470 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.470 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.470 * [backup-simplify]: Simplify (- 0) into 0
22.470 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.470 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.471 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.471 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.471 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.471 * [backup-simplify]: Simplify 0.5 into 0.5
22.471 * [taylor]: Taking taylor expansion of phi2 in phi2
22.471 * [backup-simplify]: Simplify 0 into 0
22.471 * [backup-simplify]: Simplify 1 into 1
22.471 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.472 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.472 * [taylor]: Taking taylor expansion of 2 in phi2
22.472 * [backup-simplify]: Simplify 2 into 2
22.472 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.472 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.472 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.472 * [backup-simplify]: Simplify 0.5 into 0.5
22.472 * [taylor]: Taking taylor expansion of phi1 in phi2
22.472 * [backup-simplify]: Simplify phi1 into phi1
22.472 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.472 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.472 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.472 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.472 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.472 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.472 * [backup-simplify]: Simplify 0.5 into 0.5
22.472 * [taylor]: Taking taylor expansion of phi1 in phi2
22.472 * [backup-simplify]: Simplify phi1 into phi1
22.472 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.472 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.472 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.473 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.473 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.473 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.473 * [backup-simplify]: Simplify 0.5 into 0.5
22.473 * [taylor]: Taking taylor expansion of phi2 in phi2
22.473 * [backup-simplify]: Simplify 0 into 0
22.473 * [backup-simplify]: Simplify 1 into 1
22.473 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.473 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.473 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.473 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.473 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.473 * [backup-simplify]: Simplify 0.5 into 0.5
22.473 * [taylor]: Taking taylor expansion of phi2 in phi2
22.473 * [backup-simplify]: Simplify 0 into 0
22.473 * [backup-simplify]: Simplify 1 into 1
22.474 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.474 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.474 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
22.474 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.474 * [backup-simplify]: Simplify lambda1 into lambda1
22.474 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.474 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.475 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.475 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (/ 0.5 phi2)) 2))
22.476 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.476 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.476 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.476 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.477 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.478 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.478 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.478 * [backup-simplify]: Simplify (- 0) into 0
22.479 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.479 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.479 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.480 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.480 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.480 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.482 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.482 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.482 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
22.483 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)) into (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.486 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (/ 0.5 phi2)) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (* (pow (cos (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))
22.487 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2
22.487 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi2
22.487 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
22.487 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.487 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.487 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.487 * [backup-simplify]: Simplify 0.5 into 0.5
22.487 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.487 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.487 * [taylor]: Taking taylor expansion of phi1 in phi2
22.487 * [backup-simplify]: Simplify phi1 into phi1
22.487 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.487 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.487 * [taylor]: Taking taylor expansion of phi2 in phi2
22.487 * [backup-simplify]: Simplify 0 into 0
22.487 * [backup-simplify]: Simplify 1 into 1
22.488 * [backup-simplify]: Simplify (/ 1 1) into 1
22.489 * [backup-simplify]: Simplify (+ 0 1) into 1
22.489 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.489 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.490 * [taylor]: Taking taylor expansion of (* lambda1 (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
22.490 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.490 * [backup-simplify]: Simplify lambda1 into lambda1
22.490 * [taylor]: Taking taylor expansion of (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
22.490 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
22.490 * [taylor]: Taking taylor expansion of phi1 in phi2
22.490 * [backup-simplify]: Simplify phi1 into phi1
22.490 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.490 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.490 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.490 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.490 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.490 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.490 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.490 * [backup-simplify]: Simplify 0.5 into 0.5
22.490 * [taylor]: Taking taylor expansion of phi1 in phi2
22.490 * [backup-simplify]: Simplify phi1 into phi1
22.490 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.490 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.490 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.491 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.491 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.491 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.491 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.491 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.491 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.491 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.491 * [backup-simplify]: Simplify 0.5 into 0.5
22.491 * [taylor]: Taking taylor expansion of phi2 in phi2
22.491 * [backup-simplify]: Simplify 0 into 0
22.491 * [backup-simplify]: Simplify 1 into 1
22.492 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.492 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.492 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.492 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.492 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.492 * [backup-simplify]: Simplify 0.5 into 0.5
22.492 * [taylor]: Taking taylor expansion of phi1 in phi2
22.492 * [backup-simplify]: Simplify phi1 into phi1
22.492 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.492 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.492 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.492 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.493 * [backup-simplify]: Simplify (- 0) into 0
22.493 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.493 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.493 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.493 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.493 * [backup-simplify]: Simplify 0.5 into 0.5
22.493 * [taylor]: Taking taylor expansion of phi2 in phi2
22.493 * [backup-simplify]: Simplify 0 into 0
22.493 * [backup-simplify]: Simplify 1 into 1
22.494 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.494 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.494 * [taylor]: Taking taylor expansion of 2 in phi2
22.494 * [backup-simplify]: Simplify 2 into 2
22.494 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.494 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.494 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.494 * [backup-simplify]: Simplify 0.5 into 0.5
22.494 * [taylor]: Taking taylor expansion of phi1 in phi2
22.494 * [backup-simplify]: Simplify phi1 into phi1
22.494 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.494 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.494 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.494 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.494 * [backup-simplify]: Simplify 0.5 into 0.5
22.495 * [taylor]: Taking taylor expansion of phi1 in phi2
22.495 * [backup-simplify]: Simplify phi1 into phi1
22.495 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.495 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.495 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.495 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.495 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.495 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.495 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.495 * [backup-simplify]: Simplify 0.5 into 0.5
22.495 * [taylor]: Taking taylor expansion of phi2 in phi2
22.495 * [backup-simplify]: Simplify 0 into 0
22.495 * [backup-simplify]: Simplify 1 into 1
22.495 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.496 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.496 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.496 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.496 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.496 * [backup-simplify]: Simplify 0.5 into 0.5
22.496 * [taylor]: Taking taylor expansion of phi2 in phi2
22.496 * [backup-simplify]: Simplify 0 into 0
22.496 * [backup-simplify]: Simplify 1 into 1
22.496 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.496 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.497 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.497 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
22.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.497 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.497 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.498 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.498 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.498 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.499 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.499 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.499 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.500 * [backup-simplify]: Simplify (- 0) into 0
22.500 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.500 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.500 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.500 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.501 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.501 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.502 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.503 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.505 * [backup-simplify]: Simplify (* (pow phi1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow phi1 2))
22.506 * [backup-simplify]: Simplify (* lambda1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow phi1 2))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 (pow phi1 2)))
22.508 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 (pow phi1 2)))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi1 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))
22.508 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
22.508 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) in phi2
22.508 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.508 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.508 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.508 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.508 * [backup-simplify]: Simplify 0.5 into 0.5
22.508 * [taylor]: Taking taylor expansion of phi1 in phi2
22.509 * [backup-simplify]: Simplify phi1 into phi1
22.509 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.509 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.509 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.509 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.509 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.509 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.509 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) in phi2
22.509 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.509 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.509 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.509 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.509 * [backup-simplify]: Simplify 0.5 into 0.5
22.509 * [taylor]: Taking taylor expansion of phi2 in phi2
22.509 * [backup-simplify]: Simplify 0 into 0
22.509 * [backup-simplify]: Simplify 1 into 1
22.510 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.510 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.510 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
22.510 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.510 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.510 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.510 * [backup-simplify]: Simplify 0.5 into 0.5
22.510 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.510 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.510 * [taylor]: Taking taylor expansion of phi1 in phi2
22.510 * [backup-simplify]: Simplify phi1 into phi1
22.510 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.511 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.511 * [taylor]: Taking taylor expansion of phi2 in phi2
22.511 * [backup-simplify]: Simplify 0 into 0
22.511 * [backup-simplify]: Simplify 1 into 1
22.511 * [backup-simplify]: Simplify (/ 1 1) into 1
22.511 * [backup-simplify]: Simplify (+ 0 1) into 1
22.512 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.512 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.512 * [taylor]: Taking taylor expansion of (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
22.512 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
22.512 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.512 * [backup-simplify]: Simplify lambda1 into lambda1
22.512 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.512 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.512 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.512 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.512 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.512 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.512 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.512 * [backup-simplify]: Simplify 0.5 into 0.5
22.512 * [taylor]: Taking taylor expansion of phi1 in phi2
22.513 * [backup-simplify]: Simplify phi1 into phi1
22.513 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.513 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.513 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.513 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.513 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.513 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.513 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.513 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.513 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.513 * [backup-simplify]: Simplify 0.5 into 0.5
22.513 * [taylor]: Taking taylor expansion of phi2 in phi2
22.513 * [backup-simplify]: Simplify 0 into 0
22.513 * [backup-simplify]: Simplify 1 into 1
22.513 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.513 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.513 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.513 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.513 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.513 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.513 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.514 * [backup-simplify]: Simplify 0.5 into 0.5
22.514 * [taylor]: Taking taylor expansion of phi1 in phi2
22.514 * [backup-simplify]: Simplify phi1 into phi1
22.514 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.514 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.514 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.514 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.514 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.514 * [backup-simplify]: Simplify (- 0) into 0
22.514 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.514 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.514 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.514 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.514 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.514 * [backup-simplify]: Simplify 0.5 into 0.5
22.514 * [taylor]: Taking taylor expansion of phi2 in phi2
22.514 * [backup-simplify]: Simplify 0 into 0
22.514 * [backup-simplify]: Simplify 1 into 1
22.515 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.515 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.515 * [taylor]: Taking taylor expansion of 2 in phi2
22.515 * [backup-simplify]: Simplify 2 into 2
22.515 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.515 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.515 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.515 * [backup-simplify]: Simplify 0.5 into 0.5
22.515 * [taylor]: Taking taylor expansion of phi1 in phi2
22.515 * [backup-simplify]: Simplify phi1 into phi1
22.515 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.515 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.515 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.515 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.515 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.515 * [backup-simplify]: Simplify 0.5 into 0.5
22.515 * [taylor]: Taking taylor expansion of phi1 in phi2
22.515 * [backup-simplify]: Simplify phi1 into phi1
22.515 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.515 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.515 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.515 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.515 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.515 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.515 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.515 * [backup-simplify]: Simplify 0.5 into 0.5
22.515 * [taylor]: Taking taylor expansion of phi2 in phi2
22.515 * [backup-simplify]: Simplify 0 into 0
22.515 * [backup-simplify]: Simplify 1 into 1
22.516 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.516 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.516 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.516 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.516 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.516 * [backup-simplify]: Simplify 0.5 into 0.5
22.516 * [taylor]: Taking taylor expansion of phi2 in phi2
22.516 * [backup-simplify]: Simplify 0 into 0
22.516 * [backup-simplify]: Simplify 1 into 1
22.516 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.516 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.516 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.517 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.517 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
22.517 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
22.517 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.518 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
22.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.518 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.518 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.518 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.518 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.519 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.519 * [backup-simplify]: Simplify (- 0) into 0
22.519 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.519 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.519 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.520 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.520 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.520 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.520 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.520 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.521 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.522 * [backup-simplify]: Simplify (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.523 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (* (pow (sin (/ 0.5 phi2)) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.523 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))) (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))))) in phi2
22.524 * [taylor]: Taking taylor expansion of (* 2 (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))) in phi2
22.524 * [taylor]: Taking taylor expansion of 2 in phi2
22.524 * [backup-simplify]: Simplify 2 into 2
22.524 * [taylor]: Taking taylor expansion of (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3))) in phi2
22.524 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.524 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.524 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.524 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.524 * [backup-simplify]: Simplify 0.5 into 0.5
22.524 * [taylor]: Taking taylor expansion of phi1 in phi2
22.524 * [backup-simplify]: Simplify phi1 into phi1
22.524 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.524 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.524 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.524 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.524 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
22.524 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.524 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.524 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.524 * [backup-simplify]: Simplify 0.5 into 0.5
22.524 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.524 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.524 * [taylor]: Taking taylor expansion of phi1 in phi2
22.524 * [backup-simplify]: Simplify phi1 into phi1
22.524 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.524 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.524 * [taylor]: Taking taylor expansion of phi2 in phi2
22.524 * [backup-simplify]: Simplify 0 into 0
22.524 * [backup-simplify]: Simplify 1 into 1
22.524 * [backup-simplify]: Simplify (/ 1 1) into 1
22.525 * [backup-simplify]: Simplify (+ 0 1) into 1
22.525 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.525 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.525 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.525 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.525 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.525 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.525 * [backup-simplify]: Simplify 0.5 into 0.5
22.525 * [taylor]: Taking taylor expansion of phi1 in phi2
22.525 * [backup-simplify]: Simplify phi1 into phi1
22.525 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.525 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.525 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.525 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.526 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.526 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.526 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.526 * [backup-simplify]: Simplify 0.5 into 0.5
22.526 * [taylor]: Taking taylor expansion of phi2 in phi2
22.526 * [backup-simplify]: Simplify 0 into 0
22.526 * [backup-simplify]: Simplify 1 into 1
22.526 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.526 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.526 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.526 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.526 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.526 * [backup-simplify]: Simplify 0.5 into 0.5
22.526 * [taylor]: Taking taylor expansion of phi2 in phi2
22.526 * [backup-simplify]: Simplify 0 into 0
22.526 * [backup-simplify]: Simplify 1 into 1
22.526 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.526 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.526 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)) in phi2
22.527 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.527 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.527 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.527 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.527 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.527 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.527 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.527 * [backup-simplify]: Simplify 0.5 into 0.5
22.527 * [taylor]: Taking taylor expansion of phi1 in phi2
22.527 * [backup-simplify]: Simplify phi1 into phi1
22.527 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.527 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.527 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.527 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.527 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.527 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.527 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.527 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.527 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.527 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.527 * [backup-simplify]: Simplify 0.5 into 0.5
22.527 * [taylor]: Taking taylor expansion of phi2 in phi2
22.527 * [backup-simplify]: Simplify 0 into 0
22.527 * [backup-simplify]: Simplify 1 into 1
22.527 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.528 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.528 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.528 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.528 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.528 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.528 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.528 * [backup-simplify]: Simplify 0.5 into 0.5
22.528 * [taylor]: Taking taylor expansion of phi1 in phi2
22.528 * [backup-simplify]: Simplify phi1 into phi1
22.528 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.528 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.528 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.528 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.528 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.528 * [backup-simplify]: Simplify (- 0) into 0
22.528 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.528 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.528 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.528 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.528 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.528 * [backup-simplify]: Simplify 0.5 into 0.5
22.528 * [taylor]: Taking taylor expansion of phi2 in phi2
22.528 * [backup-simplify]: Simplify 0 into 0
22.528 * [backup-simplify]: Simplify 1 into 1
22.529 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.529 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.529 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.529 * [taylor]: Taking taylor expansion of 2 in phi2
22.529 * [backup-simplify]: Simplify 2 into 2
22.529 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.529 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.529 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.529 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.529 * [backup-simplify]: Simplify 0.5 into 0.5
22.529 * [taylor]: Taking taylor expansion of phi1 in phi2
22.529 * [backup-simplify]: Simplify phi1 into phi1
22.529 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.529 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.529 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.529 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.529 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.529 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.529 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.529 * [backup-simplify]: Simplify 0.5 into 0.5
22.529 * [taylor]: Taking taylor expansion of phi1 in phi2
22.529 * [backup-simplify]: Simplify phi1 into phi1
22.529 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.529 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.529 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.529 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.529 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.529 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.529 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.530 * [backup-simplify]: Simplify 0.5 into 0.5
22.530 * [taylor]: Taking taylor expansion of phi2 in phi2
22.530 * [backup-simplify]: Simplify 0 into 0
22.530 * [backup-simplify]: Simplify 1 into 1
22.530 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.530 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.530 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.530 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.530 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.530 * [backup-simplify]: Simplify 0.5 into 0.5
22.530 * [taylor]: Taking taylor expansion of phi2 in phi2
22.530 * [backup-simplify]: Simplify 0 into 0
22.530 * [backup-simplify]: Simplify 1 into 1
22.530 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.530 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.530 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
22.530 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.530 * [backup-simplify]: Simplify lambda1 into lambda1
22.531 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.531 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.531 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.531 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.531 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.531 * [backup-simplify]: Simplify (- 0) into 0
22.532 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.532 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.532 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.532 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))))
22.533 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.533 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.533 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.533 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.533 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.533 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.533 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.534 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.534 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.534 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.534 * [backup-simplify]: Simplify (- 0) into 0
22.534 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.534 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.534 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.535 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.535 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.535 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.535 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.535 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.535 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.536 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.536 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.536 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
22.538 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)) into (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.540 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (pow lambda1 3) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (* (sin (/ 0.5 phi1)) (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 3)))
22.540 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))))) in phi2
22.540 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) in phi2
22.540 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) in phi2
22.540 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.540 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.540 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.540 * [backup-simplify]: Simplify 0.5 into 0.5
22.541 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.541 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.541 * [taylor]: Taking taylor expansion of phi1 in phi2
22.541 * [backup-simplify]: Simplify phi1 into phi1
22.541 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.541 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.541 * [taylor]: Taking taylor expansion of phi2 in phi2
22.541 * [backup-simplify]: Simplify 0 into 0
22.541 * [backup-simplify]: Simplify 1 into 1
22.541 * [backup-simplify]: Simplify (/ 1 1) into 1
22.542 * [backup-simplify]: Simplify (+ 0 1) into 1
22.542 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.542 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.542 * [taylor]: Taking taylor expansion of (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) in phi2
22.542 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
22.542 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.543 * [backup-simplify]: Simplify lambda1 into lambda1
22.543 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) in phi2
22.543 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.543 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.543 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.543 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.543 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.543 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.543 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.543 * [backup-simplify]: Simplify 0.5 into 0.5
22.543 * [taylor]: Taking taylor expansion of phi1 in phi2
22.543 * [backup-simplify]: Simplify phi1 into phi1
22.543 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.543 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.543 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.543 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.543 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.543 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.544 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.544 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.544 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.544 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.544 * [backup-simplify]: Simplify 0.5 into 0.5
22.544 * [taylor]: Taking taylor expansion of phi2 in phi2
22.544 * [backup-simplify]: Simplify 0 into 0
22.544 * [backup-simplify]: Simplify 1 into 1
22.544 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.544 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.544 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.544 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.544 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.544 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.544 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.544 * [backup-simplify]: Simplify 0.5 into 0.5
22.545 * [taylor]: Taking taylor expansion of phi1 in phi2
22.545 * [backup-simplify]: Simplify phi1 into phi1
22.545 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.545 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.545 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.545 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.545 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.545 * [backup-simplify]: Simplify (- 0) into 0
22.545 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.546 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.546 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.546 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.546 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.546 * [backup-simplify]: Simplify 0.5 into 0.5
22.546 * [taylor]: Taking taylor expansion of phi2 in phi2
22.546 * [backup-simplify]: Simplify 0 into 0
22.546 * [backup-simplify]: Simplify 1 into 1
22.546 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.546 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.546 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.546 * [taylor]: Taking taylor expansion of 2 in phi2
22.546 * [backup-simplify]: Simplify 2 into 2
22.546 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.546 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.546 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.547 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.547 * [backup-simplify]: Simplify 0.5 into 0.5
22.547 * [taylor]: Taking taylor expansion of phi1 in phi2
22.547 * [backup-simplify]: Simplify phi1 into phi1
22.547 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.547 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.547 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.547 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.547 * [backup-simplify]: Simplify 0.5 into 0.5
22.547 * [taylor]: Taking taylor expansion of phi1 in phi2
22.547 * [backup-simplify]: Simplify phi1 into phi1
22.547 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.547 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.547 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.547 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.547 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.547 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.547 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.547 * [backup-simplify]: Simplify 0.5 into 0.5
22.547 * [taylor]: Taking taylor expansion of phi2 in phi2
22.547 * [backup-simplify]: Simplify 0 into 0
22.547 * [backup-simplify]: Simplify 1 into 1
22.548 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.548 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.548 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.548 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.548 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.548 * [backup-simplify]: Simplify 0.5 into 0.5
22.548 * [taylor]: Taking taylor expansion of phi2 in phi2
22.548 * [backup-simplify]: Simplify 0 into 0
22.548 * [backup-simplify]: Simplify 1 into 1
22.549 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.549 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.549 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.549 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.550 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.550 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.550 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.550 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.551 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.551 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.552 * [backup-simplify]: Simplify (- 0) into 0
22.552 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.552 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.552 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.552 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.553 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.553 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.554 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.554 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.556 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.556 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.557 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)
22.557 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6)
22.557 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.558 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
22.560 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)
22.562 * [backup-simplify]: Simplify (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))
22.564 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow lambda1 3) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (* (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2) (pow lambda1 3)))
22.564 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))))) in phi2
22.565 * [taylor]: Taking taylor expansion of 2 in phi2
22.565 * [backup-simplify]: Simplify 2 into 2
22.565 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)))) in phi2
22.565 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
22.565 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
22.565 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
22.565 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.565 * [backup-simplify]: Simplify 0.5 into 0.5
22.565 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
22.565 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
22.565 * [taylor]: Taking taylor expansion of phi1 in phi2
22.565 * [backup-simplify]: Simplify phi1 into phi1
22.565 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.565 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
22.565 * [taylor]: Taking taylor expansion of phi2 in phi2
22.565 * [backup-simplify]: Simplify 0 into 0
22.565 * [backup-simplify]: Simplify 1 into 1
22.566 * [backup-simplify]: Simplify (/ 1 1) into 1
22.566 * [backup-simplify]: Simplify (+ 0 1) into 1
22.567 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.567 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.567 * [taylor]: Taking taylor expansion of (* phi2 (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1))) in phi2
22.567 * [taylor]: Taking taylor expansion of phi2 in phi2
22.567 * [backup-simplify]: Simplify 0 into 0
22.567 * [backup-simplify]: Simplify 1 into 1
22.567 * [taylor]: Taking taylor expansion of (* phi1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)) in phi2
22.567 * [taylor]: Taking taylor expansion of phi1 in phi2
22.567 * [backup-simplify]: Simplify phi1 into phi1
22.567 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1) in phi2
22.567 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.567 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.567 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.567 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.567 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.567 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.567 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.567 * [backup-simplify]: Simplify 0.5 into 0.5
22.567 * [taylor]: Taking taylor expansion of phi1 in phi2
22.567 * [backup-simplify]: Simplify phi1 into phi1
22.568 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.568 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.568 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.568 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.568 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.568 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.568 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.568 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.568 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.568 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.568 * [backup-simplify]: Simplify 0.5 into 0.5
22.568 * [taylor]: Taking taylor expansion of phi2 in phi2
22.568 * [backup-simplify]: Simplify 0 into 0
22.568 * [backup-simplify]: Simplify 1 into 1
22.569 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.569 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.569 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.569 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.569 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.569 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.569 * [backup-simplify]: Simplify 0.5 into 0.5
22.569 * [taylor]: Taking taylor expansion of phi1 in phi2
22.569 * [backup-simplify]: Simplify phi1 into phi1
22.569 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.569 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.569 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.570 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.570 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.570 * [backup-simplify]: Simplify (- 0) into 0
22.570 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.570 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.570 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.570 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.570 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.570 * [backup-simplify]: Simplify 0.5 into 0.5
22.570 * [taylor]: Taking taylor expansion of phi2 in phi2
22.570 * [backup-simplify]: Simplify 0 into 0
22.570 * [backup-simplify]: Simplify 1 into 1
22.571 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.571 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.571 * [taylor]: Taking taylor expansion of 2 in phi2
22.571 * [backup-simplify]: Simplify 2 into 2
22.571 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.571 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.571 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.571 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.571 * [backup-simplify]: Simplify 0.5 into 0.5
22.571 * [taylor]: Taking taylor expansion of phi1 in phi2
22.571 * [backup-simplify]: Simplify phi1 into phi1
22.571 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.571 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.572 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.572 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.572 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.572 * [backup-simplify]: Simplify 0.5 into 0.5
22.572 * [taylor]: Taking taylor expansion of phi1 in phi2
22.572 * [backup-simplify]: Simplify phi1 into phi1
22.572 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.572 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.572 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.572 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.572 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.572 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.572 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.572 * [backup-simplify]: Simplify 0.5 into 0.5
22.572 * [taylor]: Taking taylor expansion of phi2 in phi2
22.572 * [backup-simplify]: Simplify 0 into 0
22.572 * [backup-simplify]: Simplify 1 into 1
22.573 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.573 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.573 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.573 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.573 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.573 * [backup-simplify]: Simplify 0.5 into 0.5
22.573 * [taylor]: Taking taylor expansion of phi2 in phi2
22.573 * [backup-simplify]: Simplify 0 into 0
22.573 * [backup-simplify]: Simplify 1 into 1
22.574 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.574 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.574 * [taylor]: Taking taylor expansion of lambda1 in phi2
22.574 * [backup-simplify]: Simplify lambda1 into lambda1
22.574 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.574 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.575 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.575 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.576 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.576 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.577 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.577 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.577 * [backup-simplify]: Simplify (- 0) into 0
22.577 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.578 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.578 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.578 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.579 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.579 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.579 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.581 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.583 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1) into (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.584 * [backup-simplify]: Simplify (* phi1 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1))
22.585 * [backup-simplify]: Simplify (* 0 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1))) into 0
22.585 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.586 * [backup-simplify]: Simplify (+ 0) into 0
22.586 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.586 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.587 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.587 * [backup-simplify]: Simplify (+ 0 0) into 0
22.587 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.588 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.588 * [backup-simplify]: Simplify (+ 0) into 0
22.588 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.589 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.589 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.590 * [backup-simplify]: Simplify (- 0) into 0
22.590 * [backup-simplify]: Simplify (+ 0 0) into 0
22.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.590 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.590 * [backup-simplify]: Simplify (+ 0 0) into 0
22.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.591 * [backup-simplify]: Simplify (+ 0) into 0
22.591 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.591 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.592 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.592 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.592 * [backup-simplify]: Simplify (+ 0 0) into 0
22.593 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.593 * [backup-simplify]: Simplify (+ 0) into 0
22.593 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.593 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.594 * [backup-simplify]: Simplify (- 0) into 0
22.595 * [backup-simplify]: Simplify (+ 0 0) into 0
22.595 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.595 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.596 * [backup-simplify]: Simplify (- 0) into 0
22.596 * [backup-simplify]: Simplify (+ 0 0) into 0
22.597 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 lambda1)) into 0
22.598 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
22.599 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* lambda1 phi1)))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* phi1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.600 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* phi1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))
22.600 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi2
22.600 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi2
22.600 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
22.600 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
22.600 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
22.600 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
22.600 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.601 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.601 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.601 * [backup-simplify]: Simplify 0.5 into 0.5
22.601 * [taylor]: Taking taylor expansion of phi1 in phi2
22.601 * [backup-simplify]: Simplify phi1 into phi1
22.601 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.601 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.601 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.601 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.601 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.601 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.601 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
22.601 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.601 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.601 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.601 * [backup-simplify]: Simplify 0.5 into 0.5
22.601 * [taylor]: Taking taylor expansion of phi2 in phi2
22.601 * [backup-simplify]: Simplify 0 into 0
22.601 * [backup-simplify]: Simplify 1 into 1
22.601 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.602 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.602 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
22.602 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
22.602 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.602 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.602 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.602 * [backup-simplify]: Simplify 0.5 into 0.5
22.602 * [taylor]: Taking taylor expansion of phi1 in phi2
22.602 * [backup-simplify]: Simplify phi1 into phi1
22.602 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.602 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.602 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.602 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.602 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.602 * [backup-simplify]: Simplify (- 0) into 0
22.602 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.602 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
22.602 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.602 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.602 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.602 * [backup-simplify]: Simplify 0.5 into 0.5
22.602 * [taylor]: Taking taylor expansion of phi2 in phi2
22.603 * [backup-simplify]: Simplify 0 into 0
22.603 * [backup-simplify]: Simplify 1 into 1
22.603 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.603 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.603 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
22.603 * [taylor]: Taking taylor expansion of 2 in phi2
22.603 * [backup-simplify]: Simplify 2 into 2
22.603 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
22.603 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
22.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.603 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.603 * [backup-simplify]: Simplify 0.5 into 0.5
22.603 * [taylor]: Taking taylor expansion of phi1 in phi2
22.603 * [backup-simplify]: Simplify phi1 into phi1
22.603 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.603 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.603 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.603 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
22.603 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
22.603 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
22.603 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.603 * [backup-simplify]: Simplify 0.5 into 0.5
22.603 * [taylor]: Taking taylor expansion of phi1 in phi2
22.603 * [backup-simplify]: Simplify phi1 into phi1
22.603 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.604 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.604 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.604 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
22.604 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
22.604 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.604 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.604 * [backup-simplify]: Simplify 0.5 into 0.5
22.604 * [taylor]: Taking taylor expansion of phi2 in phi2
22.604 * [backup-simplify]: Simplify 0 into 0
22.604 * [backup-simplify]: Simplify 1 into 1
22.604 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.604 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.604 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
22.604 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
22.604 * [taylor]: Taking taylor expansion of 0.5 in phi2
22.604 * [backup-simplify]: Simplify 0.5 into 0.5
22.604 * [taylor]: Taking taylor expansion of phi2 in phi2
22.604 * [backup-simplify]: Simplify 0 into 0
22.604 * [backup-simplify]: Simplify 1 into 1
22.605 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.605 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.605 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.605 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.605 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.605 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.606 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.606 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.606 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.606 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.606 * [backup-simplify]: Simplify (- 0) into 0
22.607 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.607 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.607 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.607 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.607 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.607 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.607 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.607 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.608 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.609 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.610 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.612 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.612 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.613 * [backup-simplify]: Simplify (+ 0) into 0
22.614 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.614 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.615 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.615 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.616 * [backup-simplify]: Simplify (+ 0 0) into 0
22.616 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.616 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.616 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.617 * [backup-simplify]: Simplify (+ 0) into 0
22.617 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.618 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.626 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.627 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.627 * [backup-simplify]: Simplify (- 0) into 0
22.628 * [backup-simplify]: Simplify (+ 0 0) into 0
22.628 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.629 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.629 * [backup-simplify]: Simplify (+ 0 0) into 0
22.629 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.630 * [backup-simplify]: Simplify (+ 0) into 0
22.630 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.630 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.631 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.631 * [backup-simplify]: Simplify (+ 0 0) into 0
22.632 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.633 * [backup-simplify]: Simplify (+ 0) into 0
22.634 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.634 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.634 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.635 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.635 * [backup-simplify]: Simplify (- 0) into 0
22.635 * [backup-simplify]: Simplify (+ 0 0) into 0
22.636 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.636 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.636 * [backup-simplify]: Simplify (- 0) into 0
22.637 * [backup-simplify]: Simplify (+ 0 0) into 0
22.639 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.640 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.641 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.642 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.642 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
22.642 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.643 * [backup-simplify]: Simplify (+ 0) into 0
22.643 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.643 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.644 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.644 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.644 * [backup-simplify]: Simplify (+ 0 0) into 0
22.645 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.645 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.645 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.645 * [backup-simplify]: Simplify (+ 0) into 0
22.646 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.646 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.646 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.647 * [backup-simplify]: Simplify (- 0) into 0
22.647 * [backup-simplify]: Simplify (+ 0 0) into 0
22.647 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.647 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.648 * [backup-simplify]: Simplify (+ 0 0) into 0
22.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.648 * [backup-simplify]: Simplify (+ 0) into 0
22.648 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.648 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.649 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.649 * [backup-simplify]: Simplify (+ 0 0) into 0
22.650 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.650 * [backup-simplify]: Simplify (+ 0) into 0
22.650 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.650 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.651 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.651 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.651 * [backup-simplify]: Simplify (- 0) into 0
22.652 * [backup-simplify]: Simplify (+ 0 0) into 0
22.652 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.652 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.653 * [backup-simplify]: Simplify (- 0) into 0
22.653 * [backup-simplify]: Simplify (+ 0 0) into 0
22.654 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0
22.654 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
22.655 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
22.658 * [backup-simplify]: Simplify (- (/ 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) lambda1)) (/ 0 (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0
22.658 * [backup-simplify]: Simplify (+ 0 0) into 0
22.660 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))
22.662 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))
22.663 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))
22.665 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))))
22.667 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))))))
22.670 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) (* (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* 2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))
22.672 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))
22.676 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) (* 0 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))))) into (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
22.676 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
22.676 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
22.676 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))))) in phi1
22.676 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
22.676 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
22.676 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
22.676 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.677 * [backup-simplify]: Simplify 0.5 into 0.5
22.677 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
22.677 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
22.677 * [taylor]: Taking taylor expansion of phi1 in phi1
22.677 * [backup-simplify]: Simplify 0 into 0
22.677 * [backup-simplify]: Simplify 1 into 1
22.677 * [backup-simplify]: Simplify (/ 1 1) into 1
22.677 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
22.677 * [taylor]: Taking taylor expansion of phi2 in phi1
22.677 * [backup-simplify]: Simplify phi2 into phi2
22.677 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
22.678 * [backup-simplify]: Simplify (+ 1 0) into 1
22.678 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.678 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.679 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))))) in phi1
22.679 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))) in phi1
22.679 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1))) in phi1
22.679 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.679 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.679 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.679 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.679 * [backup-simplify]: Simplify 0.5 into 0.5
22.679 * [taylor]: Taking taylor expansion of phi1 in phi1
22.679 * [backup-simplify]: Simplify 0 into 0
22.679 * [backup-simplify]: Simplify 1 into 1
22.679 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.679 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.679 * [taylor]: Taking taylor expansion of (* lambda1 (* (pow (sin (/ 0.5 phi2)) 2) phi1)) in phi1
22.679 * [taylor]: Taking taylor expansion of lambda1 in phi1
22.679 * [backup-simplify]: Simplify lambda1 into lambda1
22.680 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi2)) 2) phi1) in phi1
22.680 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.680 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.680 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.680 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.680 * [backup-simplify]: Simplify 0.5 into 0.5
22.680 * [taylor]: Taking taylor expansion of phi2 in phi1
22.680 * [backup-simplify]: Simplify phi2 into phi2
22.680 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.680 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.680 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.680 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.680 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.680 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.680 * [taylor]: Taking taylor expansion of phi1 in phi1
22.680 * [backup-simplify]: Simplify 0 into 0
22.680 * [backup-simplify]: Simplify 1 into 1
22.680 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) in phi1
22.680 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.681 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.681 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.681 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.681 * [backup-simplify]: Simplify 0.5 into 0.5
22.681 * [taylor]: Taking taylor expansion of phi1 in phi1
22.681 * [backup-simplify]: Simplify 0 into 0
22.681 * [backup-simplify]: Simplify 1 into 1
22.681 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.681 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.681 * [taylor]: Taking taylor expansion of (* phi1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.681 * [taylor]: Taking taylor expansion of phi1 in phi1
22.681 * [backup-simplify]: Simplify 0 into 0
22.681 * [backup-simplify]: Simplify 1 into 1
22.682 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.682 * [taylor]: Taking taylor expansion of lambda1 in phi1
22.682 * [backup-simplify]: Simplify lambda1 into lambda1
22.682 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.682 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.682 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.682 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.682 * [backup-simplify]: Simplify 0.5 into 0.5
22.682 * [taylor]: Taking taylor expansion of phi2 in phi1
22.682 * [backup-simplify]: Simplify phi2 into phi2
22.682 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.682 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.682 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.682 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.682 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.683 * [backup-simplify]: Simplify (- 0) into 0
22.683 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.683 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))))) in phi1
22.683 * [taylor]: Taking taylor expansion of 2 in phi1
22.683 * [backup-simplify]: Simplify 2 into 2
22.683 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))))) in phi1
22.683 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.683 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.683 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.683 * [backup-simplify]: Simplify 0.5 into 0.5
22.683 * [taylor]: Taking taylor expansion of phi1 in phi1
22.683 * [backup-simplify]: Simplify 0 into 0
22.683 * [backup-simplify]: Simplify 1 into 1
22.684 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.684 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.684 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1)))) in phi1
22.684 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.684 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.684 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.684 * [backup-simplify]: Simplify 0.5 into 0.5
22.684 * [taylor]: Taking taylor expansion of phi1 in phi1
22.684 * [backup-simplify]: Simplify 0 into 0
22.684 * [backup-simplify]: Simplify 1 into 1
22.685 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.685 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) (* lambda1 phi1))) in phi1
22.685 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.685 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.685 * [backup-simplify]: Simplify 0.5 into 0.5
22.685 * [taylor]: Taking taylor expansion of phi2 in phi1
22.685 * [backup-simplify]: Simplify phi2 into phi2
22.685 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.685 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (* lambda1 phi1)) in phi1
22.685 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.685 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.685 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.685 * [backup-simplify]: Simplify 0.5 into 0.5
22.685 * [taylor]: Taking taylor expansion of phi2 in phi1
22.685 * [backup-simplify]: Simplify phi2 into phi2
22.685 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.685 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.685 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.685 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1
22.685 * [taylor]: Taking taylor expansion of lambda1 in phi1
22.685 * [backup-simplify]: Simplify lambda1 into lambda1
22.685 * [taylor]: Taking taylor expansion of phi1 in phi1
22.685 * [backup-simplify]: Simplify 0 into 0
22.685 * [backup-simplify]: Simplify 1 into 1
22.686 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.686 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.686 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi2)) 2) 0) into 0
22.686 * [backup-simplify]: Simplify (* lambda1 0) into 0
22.686 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
22.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.686 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.686 * [backup-simplify]: Simplify (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) into (* lambda1 (pow (cos (/ 0.5 phi2)) 2))
22.687 * [backup-simplify]: Simplify (* 0 (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.687 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
22.687 * [backup-simplify]: Simplify (+ 0 0) into 0
22.687 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.687 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.687 * [backup-simplify]: Simplify (- 0) into 0
22.687 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.688 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.688 * [backup-simplify]: Simplify (* lambda1 0) into 0
22.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.688 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.688 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.688 * [backup-simplify]: Simplify (* 2 0) into 0
22.688 * [backup-simplify]: Simplify (- 0) into 0
22.689 * [backup-simplify]: Simplify (+ 0 0) into 0
22.689 * [backup-simplify]: Simplify (+ 0) into 0
22.689 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.689 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.690 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.690 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.690 * [backup-simplify]: Simplify (+ 0 0) into 0
22.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.691 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi2)) 2) 1) (* 0 0)) into (pow (sin (/ 0.5 phi2)) 2)
22.691 * [backup-simplify]: Simplify (+ (* lambda1 (pow (sin (/ 0.5 phi2)) 2)) (* 0 0)) into (* lambda1 (pow (sin (/ 0.5 phi2)) 2))
22.691 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.692 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2)))
22.692 * [backup-simplify]: Simplify (+ 0) into 0
22.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.693 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.693 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.694 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.694 * [backup-simplify]: Simplify (- 0) into 0
22.694 * [backup-simplify]: Simplify (+ 0 0) into 0
22.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.694 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.695 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) into (* lambda1 (pow (cos (/ 0.5 phi2)) 2))
22.695 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.695 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))
22.696 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))))
22.696 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1
22.697 * [backup-simplify]: Simplify (+ 0) into 0
22.697 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.697 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.697 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.698 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.698 * [backup-simplify]: Simplify (+ 0 0) into 0
22.698 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) lambda1) (* 0 0)) into (* (sin (/ 0.5 phi2)) lambda1)
22.699 * [backup-simplify]: Simplify (+ 0) into 0
22.699 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.699 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.699 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.700 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.700 * [backup-simplify]: Simplify (- 0) into 0
22.700 * [backup-simplify]: Simplify (+ 0 0) into 0
22.701 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) (* (sin (/ 0.5 phi2)) lambda1)) (* 0 0)) into (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.702 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.702 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (* 0 0)) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.702 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.703 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.705 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.705 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
22.705 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
22.705 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
22.705 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.705 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.705 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.705 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.705 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.705 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.705 * [backup-simplify]: Simplify 0.5 into 0.5
22.705 * [taylor]: Taking taylor expansion of phi1 in phi1
22.705 * [backup-simplify]: Simplify 0 into 0
22.705 * [backup-simplify]: Simplify 1 into 1
22.705 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.705 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.705 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.705 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.705 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.705 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.705 * [backup-simplify]: Simplify 0.5 into 0.5
22.705 * [taylor]: Taking taylor expansion of phi2 in phi1
22.705 * [backup-simplify]: Simplify phi2 into phi2
22.706 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.706 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.706 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.706 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.706 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.706 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.706 * [backup-simplify]: Simplify 0.5 into 0.5
22.706 * [taylor]: Taking taylor expansion of phi1 in phi1
22.706 * [backup-simplify]: Simplify 0 into 0
22.706 * [backup-simplify]: Simplify 1 into 1
22.706 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.706 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.706 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.706 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.706 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.706 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.706 * [backup-simplify]: Simplify 0.5 into 0.5
22.706 * [taylor]: Taking taylor expansion of phi2 in phi1
22.706 * [backup-simplify]: Simplify phi2 into phi2
22.707 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.707 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.707 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.707 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.707 * [backup-simplify]: Simplify (- 0) into 0
22.707 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.707 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
22.707 * [taylor]: Taking taylor expansion of 2 in phi1
22.707 * [backup-simplify]: Simplify 2 into 2
22.707 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
22.707 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.707 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.707 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.707 * [backup-simplify]: Simplify 0.5 into 0.5
22.707 * [taylor]: Taking taylor expansion of phi1 in phi1
22.707 * [backup-simplify]: Simplify 0 into 0
22.707 * [backup-simplify]: Simplify 1 into 1
22.708 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.708 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
22.708 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.708 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.708 * [backup-simplify]: Simplify 0.5 into 0.5
22.708 * [taylor]: Taking taylor expansion of phi1 in phi1
22.708 * [backup-simplify]: Simplify 0 into 0
22.708 * [backup-simplify]: Simplify 1 into 1
22.708 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.708 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
22.708 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.708 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.708 * [backup-simplify]: Simplify 0.5 into 0.5
22.708 * [taylor]: Taking taylor expansion of phi2 in phi1
22.708 * [backup-simplify]: Simplify phi2 into phi2
22.708 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.708 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.708 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.708 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.708 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.708 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.709 * [backup-simplify]: Simplify 0.5 into 0.5
22.709 * [taylor]: Taking taylor expansion of phi2 in phi1
22.709 * [backup-simplify]: Simplify phi2 into phi2
22.709 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.709 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.709 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.709 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.709 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.709 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.710 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.710 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.710 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.710 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.710 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.711 * [backup-simplify]: Simplify (- 0) into 0
22.711 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.711 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.711 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.711 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.712 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.712 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.714 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.715 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.716 * [backup-simplify]: Simplify (+ 0) into 0
22.717 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.717 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.718 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.718 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.718 * [backup-simplify]: Simplify (+ 0 0) into 0
22.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.719 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.719 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.720 * [backup-simplify]: Simplify (+ 0) into 0
22.720 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.720 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.721 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.722 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.722 * [backup-simplify]: Simplify (- 0) into 0
22.722 * [backup-simplify]: Simplify (+ 0 0) into 0
22.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.723 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.723 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.724 * [backup-simplify]: Simplify (+ 0 0) into 0
22.724 * [backup-simplify]: Simplify (+ 0) into 0
22.725 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.725 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.726 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.726 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.726 * [backup-simplify]: Simplify (- 0) into 0
22.727 * [backup-simplify]: Simplify (+ 0 0) into 0
22.727 * [backup-simplify]: Simplify (+ 0) into 0
22.728 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.728 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.729 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.730 * [backup-simplify]: Simplify (+ 0 0) into 0
22.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.730 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.730 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.731 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.732 * [backup-simplify]: Simplify (- 0) into 0
22.732 * [backup-simplify]: Simplify (+ 0 0) into 0
22.734 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.735 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.737 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
22.739 * [backup-simplify]: Simplify (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
22.739 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in lambda1
22.739 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in lambda1
22.739 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1
22.739 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
22.739 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
22.739 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
22.739 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.739 * [backup-simplify]: Simplify 0.5 into 0.5
22.739 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
22.739 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
22.739 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.739 * [backup-simplify]: Simplify phi1 into phi1
22.739 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
22.739 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
22.739 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.739 * [backup-simplify]: Simplify phi2 into phi2
22.739 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
22.740 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
22.740 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
22.740 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.740 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.740 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.740 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
22.740 * [backup-simplify]: Simplify (- 0) into 0
22.741 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.741 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
22.741 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2)))) in lambda1
22.741 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (* lambda1 (pow (sin (/ 0.5 phi2)) 2))) in lambda1
22.741 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
22.741 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
22.741 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.741 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.741 * [backup-simplify]: Simplify 0.5 into 0.5
22.741 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.741 * [backup-simplify]: Simplify phi1 into phi1
22.741 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.741 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.741 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.741 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.741 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.741 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.741 * [taylor]: Taking taylor expansion of (* lambda1 (pow (sin (/ 0.5 phi2)) 2)) in lambda1
22.741 * [taylor]: Taking taylor expansion of lambda1 in lambda1
22.741 * [backup-simplify]: Simplify 0 into 0
22.741 * [backup-simplify]: Simplify 1 into 1
22.741 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
22.741 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
22.741 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.741 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.741 * [backup-simplify]: Simplify 0.5 into 0.5
22.741 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.741 * [backup-simplify]: Simplify phi2 into phi2
22.741 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.741 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.742 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.742 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.742 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.742 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.742 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (* lambda1 (pow (cos (/ 0.5 phi2)) 2))) in lambda1
22.742 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
22.742 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
22.742 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.742 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.742 * [backup-simplify]: Simplify 0.5 into 0.5
22.742 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.742 * [backup-simplify]: Simplify phi1 into phi1
22.742 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.742 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.742 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.742 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.742 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.743 * [backup-simplify]: Simplify (- 0) into 0
22.743 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.743 * [taylor]: Taking taylor expansion of (* lambda1 (pow (cos (/ 0.5 phi2)) 2)) in lambda1
22.743 * [taylor]: Taking taylor expansion of lambda1 in lambda1
22.743 * [backup-simplify]: Simplify 0 into 0
22.743 * [backup-simplify]: Simplify 1 into 1
22.743 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
22.743 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
22.743 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.743 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.743 * [backup-simplify]: Simplify 0.5 into 0.5
22.743 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.743 * [backup-simplify]: Simplify phi2 into phi2
22.743 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.743 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.743 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.743 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.743 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.748 * [backup-simplify]: Simplify (- 0) into 0
22.748 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.748 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
22.748 * [taylor]: Taking taylor expansion of 2 in lambda1
22.748 * [backup-simplify]: Simplify 2 into 2
22.748 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
22.748 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
22.748 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.748 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.748 * [backup-simplify]: Simplify 0.5 into 0.5
22.748 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.748 * [backup-simplify]: Simplify phi1 into phi1
22.748 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.748 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.748 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.748 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
22.748 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
22.749 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.749 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.749 * [backup-simplify]: Simplify 0.5 into 0.5
22.749 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.749 * [backup-simplify]: Simplify phi1 into phi1
22.749 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.749 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.749 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.749 * [taylor]: Taking taylor expansion of (* lambda1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
22.749 * [taylor]: Taking taylor expansion of lambda1 in lambda1
22.749 * [backup-simplify]: Simplify 0 into 0
22.749 * [backup-simplify]: Simplify 1 into 1
22.749 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
22.749 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
22.749 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.749 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.749 * [backup-simplify]: Simplify 0.5 into 0.5
22.749 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.749 * [backup-simplify]: Simplify phi2 into phi2
22.749 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.749 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.749 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.749 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
22.749 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.749 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.749 * [backup-simplify]: Simplify 0.5 into 0.5
22.749 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.749 * [backup-simplify]: Simplify phi2 into phi2
22.749 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.749 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.749 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.750 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.750 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.750 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.750 * [backup-simplify]: Simplify (* 0 (pow (sin (/ 0.5 phi2)) 2)) into 0
22.750 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) 0) into 0
22.750 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.750 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.750 * [backup-simplify]: Simplify (* 0 (pow (cos (/ 0.5 phi2)) 2)) into 0
22.750 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) 0) into 0
22.751 * [backup-simplify]: Simplify (+ 0 0) into 0
22.751 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.751 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.751 * [backup-simplify]: Simplify (- 0) into 0
22.751 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.752 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.752 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.752 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.752 * [backup-simplify]: Simplify (- 0) into 0
22.752 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.752 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.753 * [backup-simplify]: Simplify (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into 0
22.753 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.753 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.753 * [backup-simplify]: Simplify (* 2 0) into 0
22.753 * [backup-simplify]: Simplify (- 0) into 0
22.753 * [backup-simplify]: Simplify (+ 0 0) into 0
22.754 * [backup-simplify]: Simplify (+ 0) into 0
22.754 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.754 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.755 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.755 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.755 * [backup-simplify]: Simplify (+ 0 0) into 0
22.755 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.756 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (sin (/ 0.5 phi2)) 2))) into (pow (sin (/ 0.5 phi2)) 2)
22.756 * [backup-simplify]: Simplify (+ 0) into 0
22.756 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.756 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.757 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.757 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.757 * [backup-simplify]: Simplify (+ 0 0) into 0
22.758 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.758 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.758 * [backup-simplify]: Simplify (+ 0) into 0
22.759 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.759 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.759 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.759 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.760 * [backup-simplify]: Simplify (- 0) into 0
22.760 * [backup-simplify]: Simplify (+ 0 0) into 0
22.760 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.760 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (pow (cos (/ 0.5 phi2)) 2))) into (pow (cos (/ 0.5 phi2)) 2)
22.761 * [backup-simplify]: Simplify (+ 0) into 0
22.761 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.761 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.762 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.762 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.762 * [backup-simplify]: Simplify (- 0) into 0
22.762 * [backup-simplify]: Simplify (+ 0 0) into 0
22.763 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.763 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (* 0 0)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.763 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.764 * [backup-simplify]: Simplify (+ 0) into 0
22.764 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.764 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.765 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.765 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.766 * [backup-simplify]: Simplify (- 0) into 0
22.766 * [backup-simplify]: Simplify (+ 0 0) into 0
22.767 * [backup-simplify]: Simplify (+ 0) into 0
22.767 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.767 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.768 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.769 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.769 * [backup-simplify]: Simplify (+ 0 0) into 0
22.769 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.770 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.770 * [backup-simplify]: Simplify (+ 0) into 0
22.771 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.771 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.772 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.772 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.773 * [backup-simplify]: Simplify (+ 0 0) into 0
22.773 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) (* 0 0)) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.774 * [backup-simplify]: Simplify (+ 0) into 0
22.774 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.775 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.775 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.776 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.776 * [backup-simplify]: Simplify (- 0) into 0
22.777 * [backup-simplify]: Simplify (+ 0 0) into 0
22.777 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (* 0 0)) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.778 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) (* 0 0)) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.779 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.780 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.782 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.782 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1
22.782 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
22.782 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
22.782 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
22.783 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
22.783 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
22.783 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
22.783 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.783 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.783 * [backup-simplify]: Simplify 0.5 into 0.5
22.783 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.783 * [backup-simplify]: Simplify phi1 into phi1
22.783 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.783 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.783 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.783 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.783 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.783 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.783 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
22.783 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
22.784 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.784 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.784 * [backup-simplify]: Simplify 0.5 into 0.5
22.784 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.784 * [backup-simplify]: Simplify phi2 into phi2
22.784 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.784 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.784 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.784 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.784 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.784 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.784 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
22.784 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
22.784 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
22.784 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.784 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.784 * [backup-simplify]: Simplify 0.5 into 0.5
22.785 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.785 * [backup-simplify]: Simplify phi1 into phi1
22.785 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.785 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.785 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.785 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.785 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.786 * [backup-simplify]: Simplify (- 0) into 0
22.786 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.786 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
22.786 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
22.786 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.786 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.786 * [backup-simplify]: Simplify 0.5 into 0.5
22.786 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.786 * [backup-simplify]: Simplify phi2 into phi2
22.786 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.786 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.786 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.786 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.786 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.787 * [backup-simplify]: Simplify (- 0) into 0
22.787 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.787 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
22.787 * [taylor]: Taking taylor expansion of 2 in lambda1
22.787 * [backup-simplify]: Simplify 2 into 2
22.787 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
22.787 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
22.787 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.787 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.787 * [backup-simplify]: Simplify 0.5 into 0.5
22.787 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.787 * [backup-simplify]: Simplify phi1 into phi1
22.787 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.787 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.788 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.788 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
22.788 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
22.788 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
22.788 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.788 * [backup-simplify]: Simplify 0.5 into 0.5
22.788 * [taylor]: Taking taylor expansion of phi1 in lambda1
22.788 * [backup-simplify]: Simplify phi1 into phi1
22.788 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
22.788 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.788 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.788 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
22.788 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
22.788 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.788 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.788 * [backup-simplify]: Simplify 0.5 into 0.5
22.788 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.788 * [backup-simplify]: Simplify phi2 into phi2
22.788 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.788 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.789 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.789 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
22.789 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
22.789 * [taylor]: Taking taylor expansion of 0.5 in lambda1
22.789 * [backup-simplify]: Simplify 0.5 into 0.5
22.789 * [taylor]: Taking taylor expansion of phi2 in lambda1
22.789 * [backup-simplify]: Simplify phi2 into phi2
22.789 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.789 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.789 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.789 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.789 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.790 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.790 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.790 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.791 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.791 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.792 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
22.792 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
22.792 * [backup-simplify]: Simplify (- 0) into 0
22.792 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
22.792 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
22.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
22.793 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
22.793 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.793 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.793 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.794 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.794 * [backup-simplify]: Simplify (- 0) into 0
22.794 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.794 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.795 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.795 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.795 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.796 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.797 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.799 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.801 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.801 * [backup-simplify]: Simplify (+ 0) into 0
22.801 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.801 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.802 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.802 * [backup-simplify]: Simplify (+ 0 0) into 0
22.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.803 * [backup-simplify]: Simplify (+ 0) into 0
22.803 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.803 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.804 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.804 * [backup-simplify]: Simplify (+ 0 0) into 0
22.804 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.805 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.805 * [backup-simplify]: Simplify (+ 0) into 0
22.805 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.805 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.806 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.806 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.806 * [backup-simplify]: Simplify (- 0) into 0
22.807 * [backup-simplify]: Simplify (+ 0 0) into 0
22.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.807 * [backup-simplify]: Simplify (+ 0) into 0
22.807 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.807 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.808 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.808 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.808 * [backup-simplify]: Simplify (- 0) into 0
22.809 * [backup-simplify]: Simplify (+ 0 0) into 0
22.809 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.809 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.809 * [backup-simplify]: Simplify (+ 0 0) into 0
22.809 * [backup-simplify]: Simplify (+ 0) into 0
22.810 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.810 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.811 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.811 * [backup-simplify]: Simplify (- 0) into 0
22.811 * [backup-simplify]: Simplify (+ 0 0) into 0
22.811 * [backup-simplify]: Simplify (+ 0) into 0
22.812 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.812 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.813 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.813 * [backup-simplify]: Simplify (+ 0 0) into 0
22.813 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.813 * [backup-simplify]: Simplify (+ 0) into 0
22.814 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.814 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.814 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.814 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.815 * [backup-simplify]: Simplify (+ 0 0) into 0
22.815 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.815 * [backup-simplify]: Simplify (+ 0) into 0
22.815 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
22.816 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
22.816 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.816 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
22.817 * [backup-simplify]: Simplify (- 0) into 0
22.817 * [backup-simplify]: Simplify (+ 0 0) into 0
22.817 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.817 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.818 * [backup-simplify]: Simplify (- 0) into 0
22.818 * [backup-simplify]: Simplify (+ 0 0) into 0
22.820 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.821 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.823 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
22.824 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
22.825 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
22.826 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
22.827 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
22.827 * [backup-simplify]: Simplify (+ 0 (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
22.828 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))
22.829 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))))
22.829 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
22.829 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
22.830 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0
22.830 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
22.830 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
22.832 * [backup-simplify]: Simplify (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
22.834 * [backup-simplify]: Simplify (- (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))
22.836 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) (- (+ (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
22.837 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
22.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.838 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.838 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.839 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.839 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.839 * [backup-simplify]: Simplify (+ 0 0) into 0
22.840 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
22.840 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
22.841 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.841 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.842 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.842 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.842 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.843 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.843 * [backup-simplify]: Simplify (- 0) into 0
22.843 * [backup-simplify]: Simplify (+ 0 0) into 0
22.843 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
22.844 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
22.844 * [backup-simplify]: Simplify (+ 0 0) into 0
22.845 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
22.845 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.846 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.846 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.847 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.847 * [backup-simplify]: Simplify (+ 0 0) into 0
22.847 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
22.848 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
22.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
22.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
22.849 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
22.850 * [backup-simplify]: Simplify (- 0) into 0
22.850 * [backup-simplify]: Simplify (+ 0 0) into 0
22.850 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.851 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
22.851 * [backup-simplify]: Simplify (- 0) into 0
22.852 * [backup-simplify]: Simplify (+ 0 0) into 0
22.855 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (* 0 (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.856 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.861 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) (+ (* 0 (- (* 2 (/ 1 phi1)))) (* 0 1))) into (- (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2))))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))) (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))))
22.876 * [backup-simplify]: Simplify (+ (* 1/2 (- (+ (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (+ (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2))))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))) (* 2 (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))))) (+ (* 0 (- (* 2 (* (/ 1 phi1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into (- (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2)))))) (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))))
22.877 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2)))))) (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) in phi1
22.877 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2)))))) in phi1
22.877 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
22.877 * [taylor]: Taking taylor expansion of 1/2 in phi1
22.877 * [backup-simplify]: Simplify 1/2 into 1/2
22.877 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
22.877 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1
22.877 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.877 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.877 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.877 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.877 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.877 * [backup-simplify]: Simplify 0.5 into 0.5
22.877 * [taylor]: Taking taylor expansion of phi1 in phi1
22.877 * [backup-simplify]: Simplify 0 into 0
22.877 * [backup-simplify]: Simplify 1 into 1
22.878 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.878 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.878 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.878 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.878 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.878 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.878 * [backup-simplify]: Simplify 0.5 into 0.5
22.878 * [taylor]: Taking taylor expansion of phi2 in phi1
22.878 * [backup-simplify]: Simplify phi2 into phi2
22.878 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.879 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.879 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.879 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.879 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.880 * [backup-simplify]: Simplify (- 0) into 0
22.880 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.880 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
22.880 * [taylor]: Taking taylor expansion of lambda1 in phi1
22.880 * [backup-simplify]: Simplify lambda1 into lambda1
22.881 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.881 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.881 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.881 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.881 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
22.881 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
22.881 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
22.881 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
22.881 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.882 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.882 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.882 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.882 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.882 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.882 * [backup-simplify]: Simplify 0.5 into 0.5
22.882 * [taylor]: Taking taylor expansion of phi1 in phi1
22.882 * [backup-simplify]: Simplify 0 into 0
22.882 * [backup-simplify]: Simplify 1 into 1
22.882 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.882 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.882 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.882 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.882 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.882 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.882 * [backup-simplify]: Simplify 0.5 into 0.5
22.882 * [taylor]: Taking taylor expansion of phi2 in phi1
22.882 * [backup-simplify]: Simplify phi2 into phi2
22.882 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.882 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.882 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.883 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.883 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.883 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.883 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.883 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.883 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.883 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.883 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.883 * [backup-simplify]: Simplify 0.5 into 0.5
22.883 * [taylor]: Taking taylor expansion of phi1 in phi1
22.883 * [backup-simplify]: Simplify 0 into 0
22.883 * [backup-simplify]: Simplify 1 into 1
22.883 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.883 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.883 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.883 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.883 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.883 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.883 * [backup-simplify]: Simplify 0.5 into 0.5
22.883 * [taylor]: Taking taylor expansion of phi2 in phi1
22.883 * [backup-simplify]: Simplify phi2 into phi2
22.884 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.884 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.884 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.884 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.884 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.884 * [backup-simplify]: Simplify (- 0) into 0
22.884 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.884 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
22.884 * [taylor]: Taking taylor expansion of 2 in phi1
22.884 * [backup-simplify]: Simplify 2 into 2
22.884 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
22.884 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.884 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.884 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.884 * [backup-simplify]: Simplify 0.5 into 0.5
22.884 * [taylor]: Taking taylor expansion of phi1 in phi1
22.884 * [backup-simplify]: Simplify 0 into 0
22.884 * [backup-simplify]: Simplify 1 into 1
22.885 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.885 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.885 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
22.885 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.885 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.885 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.885 * [backup-simplify]: Simplify 0.5 into 0.5
22.885 * [taylor]: Taking taylor expansion of phi1 in phi1
22.885 * [backup-simplify]: Simplify 0 into 0
22.885 * [backup-simplify]: Simplify 1 into 1
22.885 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.885 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.885 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
22.886 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.886 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.886 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.886 * [backup-simplify]: Simplify 0.5 into 0.5
22.886 * [taylor]: Taking taylor expansion of phi2 in phi1
22.886 * [backup-simplify]: Simplify phi2 into phi2
22.886 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.886 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.886 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.886 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.886 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.886 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.886 * [backup-simplify]: Simplify 0.5 into 0.5
22.886 * [taylor]: Taking taylor expansion of phi2 in phi1
22.886 * [backup-simplify]: Simplify phi2 into phi2
22.886 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.886 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.886 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.886 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.886 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.887 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.887 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.887 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.887 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.888 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.888 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.888 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.888 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.888 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.888 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.889 * [backup-simplify]: Simplify (- 0) into 0
22.889 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.889 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.889 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.889 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.890 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.890 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.891 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.892 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.893 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.893 * [backup-simplify]: Simplify (+ 0) into 0
22.894 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.894 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.895 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.895 * [backup-simplify]: Simplify (+ 0 0) into 0
22.895 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.895 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.895 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.896 * [backup-simplify]: Simplify (+ 0) into 0
22.896 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.896 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.897 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.897 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.897 * [backup-simplify]: Simplify (- 0) into 0
22.897 * [backup-simplify]: Simplify (+ 0 0) into 0
22.898 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.898 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.898 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.898 * [backup-simplify]: Simplify (+ 0 0) into 0
22.898 * [backup-simplify]: Simplify (+ 0) into 0
22.899 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.899 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.900 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.900 * [backup-simplify]: Simplify (- 0) into 0
22.900 * [backup-simplify]: Simplify (+ 0 0) into 0
22.900 * [backup-simplify]: Simplify (+ 0) into 0
22.901 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.901 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.901 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.902 * [backup-simplify]: Simplify (+ 0 0) into 0
22.902 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.902 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.902 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.903 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.903 * [backup-simplify]: Simplify (- 0) into 0
22.903 * [backup-simplify]: Simplify (+ 0 0) into 0
22.905 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.906 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.906 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2))))) in phi1
22.906 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
22.906 * [taylor]: Taking taylor expansion of 1/2 in phi1
22.906 * [backup-simplify]: Simplify 1/2 into 1/2
22.906 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
22.907 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1
22.907 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.907 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.907 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.907 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.907 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.907 * [backup-simplify]: Simplify 0.5 into 0.5
22.907 * [taylor]: Taking taylor expansion of phi1 in phi1
22.907 * [backup-simplify]: Simplify 0 into 0
22.907 * [backup-simplify]: Simplify 1 into 1
22.907 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.907 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.907 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.907 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.907 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.907 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.907 * [backup-simplify]: Simplify 0.5 into 0.5
22.907 * [taylor]: Taking taylor expansion of phi2 in phi1
22.907 * [backup-simplify]: Simplify phi2 into phi2
22.907 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.907 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.907 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.907 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.908 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.908 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.908 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
22.908 * [taylor]: Taking taylor expansion of lambda1 in phi1
22.908 * [backup-simplify]: Simplify lambda1 into lambda1
22.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.908 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.908 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.908 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.908 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
22.909 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
22.909 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
22.909 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
22.909 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.909 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.909 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.909 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.909 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.909 * [backup-simplify]: Simplify 0.5 into 0.5
22.909 * [taylor]: Taking taylor expansion of phi1 in phi1
22.909 * [backup-simplify]: Simplify 0 into 0
22.909 * [backup-simplify]: Simplify 1 into 1
22.909 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.909 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.909 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.909 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.909 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.909 * [backup-simplify]: Simplify 0.5 into 0.5
22.909 * [taylor]: Taking taylor expansion of phi2 in phi1
22.909 * [backup-simplify]: Simplify phi2 into phi2
22.909 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.909 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.909 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.910 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.910 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.910 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.910 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.910 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.910 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.910 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.910 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.910 * [backup-simplify]: Simplify 0.5 into 0.5
22.910 * [taylor]: Taking taylor expansion of phi1 in phi1
22.910 * [backup-simplify]: Simplify 0 into 0
22.910 * [backup-simplify]: Simplify 1 into 1
22.910 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.910 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.910 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.910 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.910 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.910 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.910 * [backup-simplify]: Simplify 0.5 into 0.5
22.910 * [taylor]: Taking taylor expansion of phi2 in phi1
22.910 * [backup-simplify]: Simplify phi2 into phi2
22.910 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.910 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.911 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.911 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.911 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.911 * [backup-simplify]: Simplify (- 0) into 0
22.911 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.911 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
22.911 * [taylor]: Taking taylor expansion of 2 in phi1
22.911 * [backup-simplify]: Simplify 2 into 2
22.911 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
22.911 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.911 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.911 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.911 * [backup-simplify]: Simplify 0.5 into 0.5
22.911 * [taylor]: Taking taylor expansion of phi1 in phi1
22.911 * [backup-simplify]: Simplify 0 into 0
22.911 * [backup-simplify]: Simplify 1 into 1
22.912 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.912 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.912 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
22.912 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.912 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.912 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.912 * [backup-simplify]: Simplify 0.5 into 0.5
22.912 * [taylor]: Taking taylor expansion of phi1 in phi1
22.912 * [backup-simplify]: Simplify 0 into 0
22.912 * [backup-simplify]: Simplify 1 into 1
22.912 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.912 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.912 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
22.912 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.912 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.912 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.912 * [backup-simplify]: Simplify 0.5 into 0.5
22.912 * [taylor]: Taking taylor expansion of phi2 in phi1
22.912 * [backup-simplify]: Simplify phi2 into phi2
22.912 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.912 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.912 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.912 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.912 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.912 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.913 * [backup-simplify]: Simplify 0.5 into 0.5
22.913 * [taylor]: Taking taylor expansion of phi2 in phi1
22.913 * [backup-simplify]: Simplify phi2 into phi2
22.913 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.913 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.913 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.913 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.913 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.913 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.914 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.914 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.914 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.914 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.914 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.915 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.915 * [backup-simplify]: Simplify (- 0) into 0
22.915 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.915 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.915 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.915 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.916 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.916 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.917 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.918 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.918 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.919 * [backup-simplify]: Simplify (+ 0) into 0
22.919 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.919 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.920 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.920 * [backup-simplify]: Simplify (+ 0 0) into 0
22.920 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.921 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.921 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.921 * [backup-simplify]: Simplify (+ 0) into 0
22.922 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.922 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.923 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.924 * [backup-simplify]: Simplify (- 0) into 0
22.924 * [backup-simplify]: Simplify (+ 0 0) into 0
22.924 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.924 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.925 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.925 * [backup-simplify]: Simplify (+ 0 0) into 0
22.926 * [backup-simplify]: Simplify (+ 0) into 0
22.926 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.926 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.927 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.928 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.928 * [backup-simplify]: Simplify (- 0) into 0
22.929 * [backup-simplify]: Simplify (+ 0 0) into 0
22.929 * [backup-simplify]: Simplify (+ 0) into 0
22.929 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.930 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.930 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.931 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.931 * [backup-simplify]: Simplify (+ 0 0) into 0
22.932 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.932 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.932 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.933 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.934 * [backup-simplify]: Simplify (- 0) into 0
22.934 * [backup-simplify]: Simplify (+ 0 0) into 0
22.937 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.939 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.939 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2)))) in phi1
22.939 * [taylor]: Taking taylor expansion of 1/2 in phi1
22.939 * [backup-simplify]: Simplify 1/2 into 1/2
22.939 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ 1 (pow phi1 2))) in phi1
22.939 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
22.939 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
22.939 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
22.939 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.939 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.939 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.939 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.939 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.939 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.940 * [backup-simplify]: Simplify 0.5 into 0.5
22.940 * [taylor]: Taking taylor expansion of phi1 in phi1
22.940 * [backup-simplify]: Simplify 0 into 0
22.940 * [backup-simplify]: Simplify 1 into 1
22.940 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.940 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.940 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.940 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.940 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.940 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.940 * [backup-simplify]: Simplify 0.5 into 0.5
22.940 * [taylor]: Taking taylor expansion of phi2 in phi1
22.941 * [backup-simplify]: Simplify phi2 into phi2
22.941 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.941 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.941 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.941 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.941 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.941 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.941 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.941 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.941 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.941 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.941 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.941 * [backup-simplify]: Simplify 0.5 into 0.5
22.941 * [taylor]: Taking taylor expansion of phi1 in phi1
22.941 * [backup-simplify]: Simplify 0 into 0
22.941 * [backup-simplify]: Simplify 1 into 1
22.942 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.942 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.942 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.942 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.942 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.942 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.942 * [backup-simplify]: Simplify 0.5 into 0.5
22.942 * [taylor]: Taking taylor expansion of phi2 in phi1
22.942 * [backup-simplify]: Simplify phi2 into phi2
22.942 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.942 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.943 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.943 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.943 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.943 * [backup-simplify]: Simplify (- 0) into 0
22.943 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.943 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
22.943 * [taylor]: Taking taylor expansion of 2 in phi1
22.943 * [backup-simplify]: Simplify 2 into 2
22.943 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
22.943 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.943 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.944 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.944 * [backup-simplify]: Simplify 0.5 into 0.5
22.944 * [taylor]: Taking taylor expansion of phi1 in phi1
22.944 * [backup-simplify]: Simplify 0 into 0
22.944 * [backup-simplify]: Simplify 1 into 1
22.944 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.944 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.944 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
22.944 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.944 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.944 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.944 * [backup-simplify]: Simplify 0.5 into 0.5
22.944 * [taylor]: Taking taylor expansion of phi1 in phi1
22.945 * [backup-simplify]: Simplify 0 into 0
22.945 * [backup-simplify]: Simplify 1 into 1
22.945 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.945 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.945 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
22.945 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.945 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.945 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.945 * [backup-simplify]: Simplify 0.5 into 0.5
22.945 * [taylor]: Taking taylor expansion of phi2 in phi1
22.945 * [backup-simplify]: Simplify phi2 into phi2
22.945 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.946 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.946 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.946 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.946 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.946 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.946 * [backup-simplify]: Simplify 0.5 into 0.5
22.946 * [taylor]: Taking taylor expansion of phi2 in phi1
22.946 * [backup-simplify]: Simplify phi2 into phi2
22.946 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.946 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.946 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.946 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.946 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.947 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.947 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.947 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.948 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.948 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.949 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.949 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.949 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.949 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.949 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.950 * [backup-simplify]: Simplify (- 0) into 0
22.950 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.950 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.950 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.950 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.951 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.951 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.953 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.955 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
22.956 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
22.957 * [backup-simplify]: Simplify (+ 0) into 0
22.958 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.958 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.959 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.959 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.960 * [backup-simplify]: Simplify (+ 0 0) into 0
22.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.960 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.960 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.961 * [backup-simplify]: Simplify (+ 0) into 0
22.961 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.962 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.963 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.963 * [backup-simplify]: Simplify (- 0) into 0
22.964 * [backup-simplify]: Simplify (+ 0 0) into 0
22.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.964 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.965 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.965 * [backup-simplify]: Simplify (+ 0 0) into 0
22.965 * [backup-simplify]: Simplify (+ 0) into 0
22.966 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.967 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.967 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.968 * [backup-simplify]: Simplify (- 0) into 0
22.968 * [backup-simplify]: Simplify (+ 0 0) into 0
22.969 * [backup-simplify]: Simplify (+ 0) into 0
22.969 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.969 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.970 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.971 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.971 * [backup-simplify]: Simplify (+ 0 0) into 0
22.971 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.971 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
22.972 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
22.973 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
22.973 * [backup-simplify]: Simplify (- 0) into 0
22.973 * [backup-simplify]: Simplify (+ 0 0) into 0
22.975 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.976 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
22.976 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
22.976 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
22.976 * [taylor]: Taking taylor expansion of phi1 in phi1
22.976 * [backup-simplify]: Simplify 0 into 0
22.976 * [backup-simplify]: Simplify 1 into 1
22.976 * [backup-simplify]: Simplify (* 1 1) into 1
22.976 * [backup-simplify]: Simplify (/ 1 1) into 1
22.976 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) in phi1
22.976 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) in phi1
22.977 * [taylor]: Taking taylor expansion of 1/2 in phi1
22.977 * [backup-simplify]: Simplify 1/2 into 1/2
22.977 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))) in phi1
22.977 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) in phi1
22.977 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi1
22.977 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
22.977 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
22.977 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.977 * [backup-simplify]: Simplify 0.5 into 0.5
22.977 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
22.977 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
22.977 * [taylor]: Taking taylor expansion of phi1 in phi1
22.977 * [backup-simplify]: Simplify 0 into 0
22.977 * [backup-simplify]: Simplify 1 into 1
22.977 * [backup-simplify]: Simplify (/ 1 1) into 1
22.977 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
22.977 * [taylor]: Taking taylor expansion of phi2 in phi1
22.977 * [backup-simplify]: Simplify phi2 into phi2
22.977 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
22.977 * [backup-simplify]: Simplify (+ 1 0) into 1
22.978 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
22.978 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
22.978 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
22.978 * [taylor]: Taking taylor expansion of lambda1 in phi1
22.978 * [backup-simplify]: Simplify lambda1 into lambda1
22.978 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
22.978 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
22.978 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
22.979 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))
22.979 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) in phi1
22.979 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) in phi1
22.979 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3) in phi1
22.979 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
22.979 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
22.979 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
22.979 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
22.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.979 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.979 * [backup-simplify]: Simplify 0.5 into 0.5
22.979 * [taylor]: Taking taylor expansion of phi1 in phi1
22.979 * [backup-simplify]: Simplify 0 into 0
22.979 * [backup-simplify]: Simplify 1 into 1
22.979 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.979 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.979 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
22.979 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.979 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.979 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.979 * [backup-simplify]: Simplify 0.5 into 0.5
22.979 * [taylor]: Taking taylor expansion of phi2 in phi1
22.979 * [backup-simplify]: Simplify phi2 into phi2
22.979 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.980 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.980 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.980 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.980 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.980 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
22.980 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
22.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.980 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.980 * [backup-simplify]: Simplify 0.5 into 0.5
22.980 * [taylor]: Taking taylor expansion of phi1 in phi1
22.980 * [backup-simplify]: Simplify 0 into 0
22.980 * [backup-simplify]: Simplify 1 into 1
22.980 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.980 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.980 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
22.980 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.980 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.980 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.980 * [backup-simplify]: Simplify 0.5 into 0.5
22.980 * [taylor]: Taking taylor expansion of phi2 in phi1
22.980 * [backup-simplify]: Simplify phi2 into phi2
22.980 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.981 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.981 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.981 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.981 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.981 * [backup-simplify]: Simplify (- 0) into 0
22.981 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.981 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
22.981 * [taylor]: Taking taylor expansion of 2 in phi1
22.981 * [backup-simplify]: Simplify 2 into 2
22.981 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
22.981 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
22.981 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.981 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.981 * [backup-simplify]: Simplify 0.5 into 0.5
22.981 * [taylor]: Taking taylor expansion of phi1 in phi1
22.981 * [backup-simplify]: Simplify 0 into 0
22.981 * [backup-simplify]: Simplify 1 into 1
22.982 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.982 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
22.982 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
22.982 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
22.982 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
22.982 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.982 * [backup-simplify]: Simplify 0.5 into 0.5
22.982 * [taylor]: Taking taylor expansion of phi1 in phi1
22.982 * [backup-simplify]: Simplify 0 into 0
22.982 * [backup-simplify]: Simplify 1 into 1
22.982 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
22.982 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
22.982 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
22.982 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
22.982 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.982 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.982 * [backup-simplify]: Simplify 0.5 into 0.5
22.982 * [taylor]: Taking taylor expansion of phi2 in phi1
22.982 * [backup-simplify]: Simplify phi2 into phi2
22.982 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.982 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.982 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.982 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
22.982 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
22.982 * [taylor]: Taking taylor expansion of 0.5 in phi1
22.982 * [backup-simplify]: Simplify 0.5 into 0.5
22.982 * [taylor]: Taking taylor expansion of phi2 in phi1
22.982 * [backup-simplify]: Simplify phi2 into phi2
22.983 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
22.983 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
22.983 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
22.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
22.983 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
22.983 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
22.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
22.983 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
22.983 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
22.984 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
22.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
22.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
22.984 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
22.984 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
22.984 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
22.985 * [backup-simplify]: Simplify (- 0) into 0
22.985 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
22.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
22.985 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
22.985 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
22.985 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
22.986 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.986 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
22.988 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)
22.990 * [backup-simplify]: Simplify (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2)) into (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)
22.991 * [backup-simplify]: Simplify (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) into (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))
22.991 * [backup-simplify]: Simplify (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))) into (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)))
22.992 * [backup-simplify]: Simplify (+ 0) into 0
22.992 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.992 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.993 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.993 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.993 * [backup-simplify]: Simplify (+ 0 0) into 0
22.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
22.994 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
22.994 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
22.994 * [backup-simplify]: Simplify (+ 0) into 0
22.995 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.995 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.995 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.996 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.996 * [backup-simplify]: Simplify (- 0) into 0
22.996 * [backup-simplify]: Simplify (+ 0 0) into 0
22.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
22.996 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
22.997 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
22.997 * [backup-simplify]: Simplify (+ 0 0) into 0
22.997 * [backup-simplify]: Simplify (+ 0) into 0
22.997 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
22.998 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
22.998 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
22.998 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
22.999 * [backup-simplify]: Simplify (- 0) into 0
22.999 * [backup-simplify]: Simplify (+ 0 0) into 0
22.999 * [backup-simplify]: Simplify (+ 0) into 0
22.999 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.000 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.001 * [backup-simplify]: Simplify (+ 0 0) into 0
23.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.001 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
23.001 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
23.002 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
23.002 * [backup-simplify]: Simplify (- 0) into 0
23.002 * [backup-simplify]: Simplify (+ 0 0) into 0
23.004 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into 0
23.007 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 2))) into 0
23.011 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3)) (/ 0 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0
23.013 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) 3))))) into 0
23.013 * [taylor]: Taking taylor expansion of (* (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) in phi1
23.013 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1
23.013 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
23.013 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
23.013 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
23.013 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.013 * [backup-simplify]: Simplify 0.5 into 0.5
23.013 * [taylor]: Taking taylor expansion of phi1 in phi1
23.013 * [backup-simplify]: Simplify 0 into 0
23.013 * [backup-simplify]: Simplify 1 into 1
23.014 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
23.014 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
23.014 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
23.014 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
23.014 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
23.014 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.014 * [backup-simplify]: Simplify 0.5 into 0.5
23.014 * [taylor]: Taking taylor expansion of phi1 in phi1
23.014 * [backup-simplify]: Simplify 0 into 0
23.014 * [backup-simplify]: Simplify 1 into 1
23.015 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
23.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
23.015 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
23.015 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
23.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
23.015 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.015 * [backup-simplify]: Simplify 0.5 into 0.5
23.015 * [taylor]: Taking taylor expansion of phi2 in phi1
23.015 * [backup-simplify]: Simplify phi2 into phi2
23.015 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.015 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.015 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.015 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
23.015 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
23.015 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.015 * [backup-simplify]: Simplify 0.5 into 0.5
23.015 * [taylor]: Taking taylor expansion of phi2 in phi1
23.016 * [backup-simplify]: Simplify phi2 into phi2
23.016 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.016 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.016 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.016 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
23.016 * [taylor]: Taking taylor expansion of lambda1 in phi1
23.016 * [backup-simplify]: Simplify lambda1 into lambda1
23.016 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
23.016 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
23.016 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
23.016 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
23.016 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
23.023 * [backup-simplify]: Simplify (- 0) into 0
23.023 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
23.024 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
23.024 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
23.024 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
23.024 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.025 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
23.025 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in phi1
23.025 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in phi1
23.025 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
23.025 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
23.025 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
23.025 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
23.025 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
23.025 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
23.025 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.025 * [backup-simplify]: Simplify 0.5 into 0.5
23.025 * [taylor]: Taking taylor expansion of phi1 in phi1
23.026 * [backup-simplify]: Simplify 0 into 0
23.026 * [backup-simplify]: Simplify 1 into 1
23.026 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
23.026 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
23.026 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
23.026 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
23.027 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
23.027 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.027 * [backup-simplify]: Simplify 0.5 into 0.5
23.027 * [taylor]: Taking taylor expansion of phi2 in phi1
23.027 * [backup-simplify]: Simplify phi2 into phi2
23.027 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.027 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.027 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.027 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
23.027 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
23.027 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
23.027 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
23.027 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
23.027 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
23.027 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
23.027 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.027 * [backup-simplify]: Simplify 0.5 into 0.5
23.027 * [taylor]: Taking taylor expansion of phi1 in phi1
23.028 * [backup-simplify]: Simplify 0 into 0
23.028 * [backup-simplify]: Simplify 1 into 1
23.028 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
23.028 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
23.028 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
23.028 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
23.028 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
23.028 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.028 * [backup-simplify]: Simplify 0.5 into 0.5
23.028 * [taylor]: Taking taylor expansion of phi2 in phi1
23.028 * [backup-simplify]: Simplify phi2 into phi2
23.028 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.029 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.029 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.029 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
23.029 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
23.029 * [backup-simplify]: Simplify (- 0) into 0
23.029 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
23.029 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
23.029 * [taylor]: Taking taylor expansion of 2 in phi1
23.030 * [backup-simplify]: Simplify 2 into 2
23.030 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
23.030 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
23.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
23.030 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.030 * [backup-simplify]: Simplify 0.5 into 0.5
23.030 * [taylor]: Taking taylor expansion of phi1 in phi1
23.030 * [backup-simplify]: Simplify 0 into 0
23.030 * [backup-simplify]: Simplify 1 into 1
23.030 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
23.030 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
23.030 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
23.030 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
23.030 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
23.030 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.030 * [backup-simplify]: Simplify 0.5 into 0.5
23.031 * [taylor]: Taking taylor expansion of phi1 in phi1
23.031 * [backup-simplify]: Simplify 0 into 0
23.031 * [backup-simplify]: Simplify 1 into 1
23.031 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
23.031 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
23.031 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
23.031 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
23.031 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
23.031 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.031 * [backup-simplify]: Simplify 0.5 into 0.5
23.031 * [taylor]: Taking taylor expansion of phi2 in phi1
23.031 * [backup-simplify]: Simplify phi2 into phi2
23.031 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.032 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
23.032 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
23.032 * [taylor]: Taking taylor expansion of 0.5 in phi1
23.032 * [backup-simplify]: Simplify 0.5 into 0.5
23.032 * [taylor]: Taking taylor expansion of phi2 in phi1
23.032 * [backup-simplify]: Simplify phi2 into phi2
23.032 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.032 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.032 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
23.032 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
23.033 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
23.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
23.033 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
23.033 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
23.034 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
23.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
23.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
23.034 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
23.034 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
23.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
23.034 * [backup-simplify]: Simplify (- 0) into 0
23.034 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
23.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
23.034 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
23.035 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
23.035 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
23.035 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
23.036 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
23.037 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
23.038 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
23.038 * [backup-simplify]: Simplify (+ 0) into 0
23.038 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.038 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.039 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.040 * [backup-simplify]: Simplify (+ 0 0) into 0
23.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
23.040 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.040 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
23.040 * [backup-simplify]: Simplify (+ 0) into 0
23.041 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.041 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.041 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.042 * [backup-simplify]: Simplify (- 0) into 0
23.042 * [backup-simplify]: Simplify (+ 0 0) into 0
23.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.042 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.042 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
23.043 * [backup-simplify]: Simplify (+ 0 0) into 0
23.043 * [backup-simplify]: Simplify (+ 0) into 0
23.043 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.043 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.044 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.044 * [backup-simplify]: Simplify (- 0) into 0
23.045 * [backup-simplify]: Simplify (+ 0 0) into 0
23.045 * [backup-simplify]: Simplify (+ 0) into 0
23.045 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.045 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.046 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.046 * [backup-simplify]: Simplify (+ 0 0) into 0
23.046 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.047 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
23.047 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
23.047 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
23.048 * [backup-simplify]: Simplify (- 0) into 0
23.048 * [backup-simplify]: Simplify (+ 0 0) into 0
23.050 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
23.051 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
23.051 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.052 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
23.053 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) (* 0 1)) into 0
23.054 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
23.055 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
23.055 * [backup-simplify]: Simplify (+ 0 0) into 0
23.056 * [backup-simplify]: Simplify (+ 0 0) into 0
23.056 * [backup-simplify]: Simplify (+ 0 0) into 0
23.056 * [taylor]: Taking taylor expansion of 0 in lambda1
23.056 * [backup-simplify]: Simplify 0 into 0
23.056 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
23.057 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
23.058 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
23.059 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))) into 0
23.059 * [taylor]: Taking taylor expansion of 0 in phi1
23.059 * [backup-simplify]: Simplify 0 into 0
23.060 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
23.060 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.061 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.061 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.061 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.062 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.062 * [backup-simplify]: Simplify (+ 0 0) into 0
23.062 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
23.063 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
23.063 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.064 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.064 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.064 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.065 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.065 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.066 * [backup-simplify]: Simplify (- 0) into 0
23.066 * [backup-simplify]: Simplify (+ 0 0) into 0
23.067 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
23.067 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
23.068 * [backup-simplify]: Simplify (+ 0 0) into 0
23.068 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
23.069 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.069 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.070 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.070 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.071 * [backup-simplify]: Simplify (+ 0 0) into 0
23.071 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
23.072 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.072 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.072 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.073 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.073 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.073 * [backup-simplify]: Simplify (- 0) into 0
23.073 * [backup-simplify]: Simplify (+ 0 0) into 0
23.074 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
23.075 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
23.075 * [backup-simplify]: Simplify (- 0) into 0
23.075 * [backup-simplify]: Simplify (+ 0 0) into 0
23.076 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into 0
23.076 * [taylor]: Taking taylor expansion of 0 in phi1
23.076 * [backup-simplify]: Simplify 0 into 0
23.077 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
23.078 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) 0) (* 0 1)) into 0
23.079 * [backup-simplify]: Simplify (- 0) into 0
23.079 * [taylor]: Taking taylor expansion of 0 in lambda1
23.079 * [backup-simplify]: Simplify 0 into 0
23.080 * [backup-simplify]: Simplify (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.082 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
23.082 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1
23.082 * [taylor]: Taking taylor expansion of -1 in lambda1
23.082 * [backup-simplify]: Simplify -1 into -1
23.082 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1
23.082 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) in lambda1
23.082 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) in lambda1
23.082 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
23.082 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
23.082 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
23.082 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
23.082 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
23.082 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
23.082 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.082 * [backup-simplify]: Simplify 0.5 into 0.5
23.082 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.082 * [backup-simplify]: Simplify phi1 into phi1
23.082 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
23.082 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
23.082 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
23.082 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
23.082 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
23.083 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
23.083 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
23.083 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
23.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
23.083 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.083 * [backup-simplify]: Simplify 0.5 into 0.5
23.083 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.083 * [backup-simplify]: Simplify phi2 into phi2
23.083 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
23.083 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
23.083 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
23.083 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
23.083 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
23.083 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
23.083 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
23.083 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.083 * [backup-simplify]: Simplify 0.5 into 0.5
23.083 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.083 * [backup-simplify]: Simplify phi1 into phi1
23.083 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
23.083 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
23.083 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
23.083 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
23.083 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
23.084 * [backup-simplify]: Simplify (- 0) into 0
23.084 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
23.084 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
23.084 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
23.084 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
23.084 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.084 * [backup-simplify]: Simplify 0.5 into 0.5
23.084 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.084 * [backup-simplify]: Simplify phi2 into phi2
23.084 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.084 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.084 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.084 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
23.084 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
23.085 * [backup-simplify]: Simplify (- 0) into 0
23.085 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
23.085 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
23.085 * [taylor]: Taking taylor expansion of 2 in lambda1
23.085 * [backup-simplify]: Simplify 2 into 2
23.085 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
23.085 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
23.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
23.085 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.085 * [backup-simplify]: Simplify 0.5 into 0.5
23.085 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.085 * [backup-simplify]: Simplify phi1 into phi1
23.085 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
23.085 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
23.085 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
23.085 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
23.085 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
23.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
23.085 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.085 * [backup-simplify]: Simplify 0.5 into 0.5
23.085 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.085 * [backup-simplify]: Simplify phi1 into phi1
23.085 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
23.085 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
23.085 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
23.085 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
23.085 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
23.085 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
23.085 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.086 * [backup-simplify]: Simplify 0.5 into 0.5
23.086 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.086 * [backup-simplify]: Simplify phi2 into phi2
23.086 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.086 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.086 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.086 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
23.086 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
23.086 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.086 * [backup-simplify]: Simplify 0.5 into 0.5
23.086 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.086 * [backup-simplify]: Simplify phi2 into phi2
23.086 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
23.086 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
23.086 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
23.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
23.086 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
23.086 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
23.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
23.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
23.087 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
23.087 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
23.087 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
23.088 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
23.088 * [backup-simplify]: Simplify (- 0) into 0
23.088 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
23.088 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
23.088 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
23.088 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
23.088 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
23.088 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
23.088 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
23.088 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
23.089 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
23.089 * [backup-simplify]: Simplify (- 0) into 0
23.089 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
23.089 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
23.089 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
23.089 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
23.090 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
23.090 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
23.091 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
23.092 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))
23.092 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))
23.093 * [backup-simplify]: Simplify (+ 0) into 0
23.093 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.093 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.094 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.094 * [backup-simplify]: Simplify (+ 0 0) into 0
23.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
23.095 * [backup-simplify]: Simplify (+ 0) into 0
23.095 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.095 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.096 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.096 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.096 * [backup-simplify]: Simplify (+ 0 0) into 0
23.097 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
23.097 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
23.097 * [backup-simplify]: Simplify (+ 0) into 0
23.098 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.098 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.098 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.099 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.099 * [backup-simplify]: Simplify (- 0) into 0
23.099 * [backup-simplify]: Simplify (+ 0 0) into 0
23.099 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.099 * [backup-simplify]: Simplify (+ 0) into 0
23.100 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.100 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.100 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.101 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.101 * [backup-simplify]: Simplify (- 0) into 0
23.101 * [backup-simplify]: Simplify (+ 0 0) into 0
23.101 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
23.102 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
23.102 * [backup-simplify]: Simplify (+ 0 0) into 0
23.102 * [backup-simplify]: Simplify (+ 0) into 0
23.103 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.103 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.103 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.104 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.104 * [backup-simplify]: Simplify (- 0) into 0
23.104 * [backup-simplify]: Simplify (+ 0 0) into 0
23.105 * [backup-simplify]: Simplify (+ 0) into 0
23.106 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
23.106 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
23.107 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.107 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
23.108 * [backup-simplify]: Simplify (+ 0 0) into 0
23.108 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
23.108 * [backup-simplify]: Simplify (+ 0) into 0
23.109 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.110 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.111 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.111 * [backup-simplify]: Simplify (+ 0 0) into 0
23.111 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
23.112 * [backup-simplify]: Simplify (+ 0) into 0
23.112 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
23.113 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
23.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.114 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
23.114 * [backup-simplify]: Simplify (- 0) into 0
23.115 * [backup-simplify]: Simplify (+ 0 0) into 0
23.115 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
23.116 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
23.117 * [backup-simplify]: Simplify (- 0) into 0
23.117 * [backup-simplify]: Simplify (+ 0 0) into 0
23.121 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) (/ 0 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
23.123 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into 0
23.124 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1
23.124 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
23.124 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
23.124 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
23.124 * [taylor]: Taking taylor expansion of 0.5 in lambda1
23.124 * [backup-simplify]: Simplify 0.5 into 0.5
23.124 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
23.124 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
23.124 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.124 * [backup-simplify]: Simplify phi1 into phi1
23.124 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.124 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
23.124 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.124 * [backup-simplify]: Simplify phi2 into phi2
23.124 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
23.124 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
23.125 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
23.125 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.125 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.125 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.126 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
23.126 * [backup-simplify]: Simplify (- 0) into 0
23.126 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.127 * [taylor]: Taking taylor expansion of lambda1 in lambda1
23.127 * [backup-simplify]: Simplify 0 into 0
23.127 * [backup-simplify]: Simplify 1 into 1
23.127 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.127 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.130 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))) (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
23.133 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
23.135 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))) into (* -1 (* (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))))
23.136 * [taylor]: Taking taylor expansion of 0 in lambda1
23.136 * [backup-simplify]: Simplify 0 into 0
23.136 * [taylor]: Taking taylor expansion of 0 in lambda1
23.136 * [backup-simplify]: Simplify 0 into 0
23.138 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
23.140 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))))))
23.150 * [backup-simplify]: Simplify (+ (* (- (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2))))))))))) (* 1 (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (/ 1 lambda2))))) (+ (* (* -1 (* (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) (sqrt (/ 1 (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))))))) (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1)))) (* (- (* (sqrt (/ 1 (pow (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) 3))) (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda1)) (* (/ 1 (/ 1 phi1)) (* (/ 1 (/ 1 phi2)) (pow (/ 1 lambda2) 2))))))) into (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))) (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))))))
23.156 * [backup-simplify]: Simplify (sqrt (+ (- (+ (* (pow (/ 1 (- lambda2)) 2) (pow (- (* (cos (* 0.5 (/ 1 (- phi2)))) (cos (* 0.5 (/ 1 (- phi1))))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2)) (* (pow (- (* (cos (* 0.5 (/ 1 (- phi2)))) (cos (* 0.5 (/ 1 (- phi1))))) (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5)))) 2) (pow (/ 1 (- lambda1)) 2))) (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1)))))) (* (- (/ 1 (- phi1)) (/ 1 (- phi2))) (- (/ 1 (- phi1)) (/ 1 (- phi2)))))) into (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))))
23.156 * [approximate]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))))) in (lambda2 phi2 phi1 lambda1) around 0
23.156 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))))) in lambda1
23.156 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) in lambda1
23.157 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda1
23.157 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda1
23.157 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda1
23.157 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.157 * [backup-simplify]: Simplify phi2 into phi2
23.157 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
23.157 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
23.157 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda1
23.157 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda1
23.157 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda1
23.157 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.157 * [backup-simplify]: Simplify phi1 into phi1
23.157 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
23.157 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
23.157 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1
23.157 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1
23.158 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
23.158 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
23.158 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.158 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.158 * [backup-simplify]: Simplify -0.5 into -0.5
23.158 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.158 * [backup-simplify]: Simplify phi2 into phi2
23.158 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.158 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.158 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.158 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.158 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.158 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.158 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
23.158 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.158 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.158 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.159 * [backup-simplify]: Simplify -0.5 into -0.5
23.159 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.159 * [backup-simplify]: Simplify phi1 into phi1
23.159 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.159 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.159 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.159 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.159 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.159 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
23.159 * [taylor]: Taking taylor expansion of lambda1 in lambda1
23.159 * [backup-simplify]: Simplify 0 into 0
23.159 * [backup-simplify]: Simplify 1 into 1
23.159 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.160 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.160 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.168 * [backup-simplify]: Simplify (* 1 1) into 1
23.168 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.168 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1
23.169 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1
23.169 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
23.169 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
23.169 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.169 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.169 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.169 * [backup-simplify]: Simplify -0.5 into -0.5
23.169 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.169 * [backup-simplify]: Simplify phi2 into phi2
23.169 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.169 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.169 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.171 * [backup-simplify]: Simplify (- 0) into 0
23.171 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.171 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
23.171 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.171 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.171 * [backup-simplify]: Simplify -0.5 into -0.5
23.171 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.171 * [backup-simplify]: Simplify phi1 into phi1
23.171 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.171 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.171 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.171 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.172 * [backup-simplify]: Simplify (- 0) into 0
23.172 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.172 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
23.172 * [taylor]: Taking taylor expansion of lambda2 in lambda1
23.172 * [backup-simplify]: Simplify lambda2 into lambda2
23.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.172 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.173 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.173 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.173 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
23.173 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1
23.173 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1
23.173 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
23.173 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
23.173 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.174 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.174 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.174 * [backup-simplify]: Simplify -0.5 into -0.5
23.174 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.174 * [backup-simplify]: Simplify phi2 into phi2
23.174 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.174 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.174 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.174 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.174 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.175 * [backup-simplify]: Simplify (- 0) into 0
23.175 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.175 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
23.175 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.175 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.175 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.175 * [backup-simplify]: Simplify -0.5 into -0.5
23.175 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.175 * [backup-simplify]: Simplify phi1 into phi1
23.175 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.175 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.175 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.176 * [backup-simplify]: Simplify (- 0) into 0
23.176 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.176 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
23.176 * [taylor]: Taking taylor expansion of lambda1 in lambda1
23.176 * [backup-simplify]: Simplify 0 into 0
23.176 * [backup-simplify]: Simplify 1 into 1
23.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.176 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.177 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.177 * [backup-simplify]: Simplify (* 1 1) into 1
23.177 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.177 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1
23.177 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
23.178 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
23.178 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.178 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.178 * [backup-simplify]: Simplify -0.5 into -0.5
23.178 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.178 * [backup-simplify]: Simplify phi2 into phi2
23.178 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.178 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.178 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.178 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.178 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
23.178 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.178 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.178 * [backup-simplify]: Simplify -0.5 into -0.5
23.178 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.178 * [backup-simplify]: Simplify phi1 into phi1
23.178 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.179 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.179 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.179 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.179 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
23.179 * [taylor]: Taking taylor expansion of lambda2 in lambda1
23.179 * [backup-simplify]: Simplify lambda2 into lambda2
23.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.180 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.180 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.180 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
23.180 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda1
23.180 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1
23.180 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1
23.180 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.180 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.180 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.180 * [backup-simplify]: Simplify -0.5 into -0.5
23.180 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.180 * [backup-simplify]: Simplify phi2 into phi2
23.181 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.181 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.181 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.181 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1
23.181 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.181 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.181 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.181 * [backup-simplify]: Simplify -0.5 into -0.5
23.181 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.181 * [backup-simplify]: Simplify phi2 into phi2
23.181 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.181 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.181 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.181 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1
23.181 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.181 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.181 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.181 * [backup-simplify]: Simplify -0.5 into -0.5
23.181 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.181 * [backup-simplify]: Simplify phi1 into phi1
23.181 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.181 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.182 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.182 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.182 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.182 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.182 * [backup-simplify]: Simplify -0.5 into -0.5
23.182 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.182 * [backup-simplify]: Simplify phi1 into phi1
23.182 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.182 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.182 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.182 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
23.182 * [taylor]: Taking taylor expansion of lambda2 in lambda1
23.182 * [backup-simplify]: Simplify lambda2 into lambda2
23.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.182 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.183 * [backup-simplify]: Simplify (- 0) into 0
23.183 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.183 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.183 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.183 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.183 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.184 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.184 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.184 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.184 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.184 * [backup-simplify]: Simplify (- 0) into 0
23.184 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.185 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.185 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.185 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.185 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.186 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
23.186 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda1
23.186 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1
23.186 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1
23.186 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.186 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.186 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.186 * [backup-simplify]: Simplify -0.5 into -0.5
23.186 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.186 * [backup-simplify]: Simplify phi2 into phi2
23.186 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.186 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.187 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.187 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1
23.187 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.187 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.187 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.187 * [backup-simplify]: Simplify -0.5 into -0.5
23.187 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.187 * [backup-simplify]: Simplify phi2 into phi2
23.187 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.187 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.187 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.187 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1
23.187 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.187 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.187 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.187 * [backup-simplify]: Simplify -0.5 into -0.5
23.187 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.187 * [backup-simplify]: Simplify phi1 into phi1
23.187 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.187 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.187 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.188 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.188 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.188 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.188 * [backup-simplify]: Simplify -0.5 into -0.5
23.188 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.188 * [backup-simplify]: Simplify phi1 into phi1
23.188 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.188 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.188 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.188 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
23.188 * [taylor]: Taking taylor expansion of lambda1 in lambda1
23.188 * [backup-simplify]: Simplify 0 into 0
23.188 * [backup-simplify]: Simplify 1 into 1
23.188 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.188 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.188 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.189 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.189 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.189 * [backup-simplify]: Simplify (- 0) into 0
23.189 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.189 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.189 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.190 * [backup-simplify]: Simplify (- 0) into 0
23.190 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.190 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.190 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.190 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.191 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.191 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.191 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.192 * [backup-simplify]: Simplify (* 1 1) into 1
23.192 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.192 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda1
23.192 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda1
23.192 * [taylor]: Taking taylor expansion of 2 in lambda1
23.192 * [backup-simplify]: Simplify 2 into 2
23.192 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda1
23.192 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda1
23.192 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.192 * [backup-simplify]: Simplify phi2 into phi2
23.192 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.192 * [backup-simplify]: Simplify phi1 into phi1
23.192 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
23.193 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
23.193 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda1
23.193 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1
23.193 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1
23.193 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.193 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.193 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.193 * [backup-simplify]: Simplify -0.5 into -0.5
23.193 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.193 * [backup-simplify]: Simplify phi2 into phi2
23.193 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.193 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.193 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.193 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1
23.193 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.193 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.193 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.193 * [backup-simplify]: Simplify -0.5 into -0.5
23.193 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.193 * [backup-simplify]: Simplify phi2 into phi2
23.193 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.193 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.194 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1
23.194 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.194 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.194 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.194 * [backup-simplify]: Simplify -0.5 into -0.5
23.194 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.194 * [backup-simplify]: Simplify phi1 into phi1
23.194 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.194 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.194 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.194 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.194 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.194 * [backup-simplify]: Simplify -0.5 into -0.5
23.194 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.194 * [backup-simplify]: Simplify phi1 into phi1
23.194 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.194 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.194 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.195 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
23.195 * [taylor]: Taking taylor expansion of lambda1 in lambda1
23.195 * [backup-simplify]: Simplify 0 into 0
23.195 * [backup-simplify]: Simplify 1 into 1
23.195 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.195 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.195 * [backup-simplify]: Simplify (- 0) into 0
23.195 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.196 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.196 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.196 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.196 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.196 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.196 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.196 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.196 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.197 * [backup-simplify]: Simplify (- 0) into 0
23.197 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.197 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.197 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.198 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.198 * [backup-simplify]: Simplify (* 1 1) into 1
23.198 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
23.199 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda1
23.199 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1
23.199 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1
23.199 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.199 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.199 * [backup-simplify]: Simplify -0.5 into -0.5
23.199 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.199 * [backup-simplify]: Simplify phi2 into phi2
23.199 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.199 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.199 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.199 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1
23.199 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.199 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.199 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.199 * [backup-simplify]: Simplify -0.5 into -0.5
23.199 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.199 * [backup-simplify]: Simplify phi2 into phi2
23.199 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.199 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.200 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1
23.200 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.200 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.200 * [backup-simplify]: Simplify -0.5 into -0.5
23.200 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.200 * [backup-simplify]: Simplify phi1 into phi1
23.200 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.200 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.200 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.200 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.200 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.200 * [backup-simplify]: Simplify -0.5 into -0.5
23.200 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.200 * [backup-simplify]: Simplify phi1 into phi1
23.200 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.200 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.201 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.201 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
23.201 * [taylor]: Taking taylor expansion of lambda2 in lambda1
23.201 * [backup-simplify]: Simplify lambda2 into lambda2
23.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.201 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.201 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.201 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.202 * [backup-simplify]: Simplify (- 0) into 0
23.202 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.202 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.202 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.202 * [backup-simplify]: Simplify (- 0) into 0
23.203 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.203 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.203 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.203 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.204 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.204 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.204 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
23.204 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
23.204 * [taylor]: Taking taylor expansion of 2 in lambda1
23.204 * [backup-simplify]: Simplify 2 into 2
23.204 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
23.204 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
23.204 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
23.204 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
23.205 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.205 * [backup-simplify]: Simplify -0.5 into -0.5
23.205 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
23.205 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
23.205 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.205 * [backup-simplify]: Simplify phi1 into phi1
23.205 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.205 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
23.205 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.205 * [backup-simplify]: Simplify phi2 into phi2
23.205 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
23.205 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
23.205 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
23.205 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.205 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.205 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.205 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
23.206 * [backup-simplify]: Simplify (- 0) into 0
23.206 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.206 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
23.206 * [taylor]: Taking taylor expansion of lambda2 in lambda1
23.206 * [backup-simplify]: Simplify lambda2 into lambda2
23.206 * [taylor]: Taking taylor expansion of lambda1 in lambda1
23.206 * [backup-simplify]: Simplify 0 into 0
23.206 * [backup-simplify]: Simplify 1 into 1
23.206 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.206 * [backup-simplify]: Simplify (* lambda2 0) into 0
23.206 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
23.207 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
23.207 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 0) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.207 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.208 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.208 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.209 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.209 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) 0) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
23.209 * [backup-simplify]: Simplify (+ 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
23.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
23.210 * [backup-simplify]: Simplify (+ 0 (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
23.211 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
23.212 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
23.213 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
23.213 * [backup-simplify]: Simplify (+ 0) into 0
23.214 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.214 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.214 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.215 * [backup-simplify]: Simplify (+ 0 0) into 0
23.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.215 * [backup-simplify]: Simplify (+ 0) into 0
23.216 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.216 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.216 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.217 * [backup-simplify]: Simplify (+ 0 0) into 0
23.217 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.217 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.218 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.218 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
23.219 * [backup-simplify]: Simplify (+ 0) into 0
23.219 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.219 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.219 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.220 * [backup-simplify]: Simplify (- 0) into 0
23.220 * [backup-simplify]: Simplify (+ 0 0) into 0
23.220 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.221 * [backup-simplify]: Simplify (+ 0) into 0
23.221 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.221 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.222 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.222 * [backup-simplify]: Simplify (- 0) into 0
23.222 * [backup-simplify]: Simplify (+ 0 0) into 0
23.222 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.223 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.223 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.224 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
23.224 * [backup-simplify]: Simplify (+ 0 0) into 0
23.224 * [backup-simplify]: Simplify (+ 0 0) into 0
23.225 * [backup-simplify]: Simplify (+ 0 0) into 0
23.225 * [backup-simplify]: Simplify (+ 0 0) into 0
23.225 * [backup-simplify]: Simplify (+ 0 0) into 0
23.225 * [backup-simplify]: Simplify (+ 0) into 0
23.226 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.226 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.227 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.227 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.227 * [backup-simplify]: Simplify (+ 0 0) into 0
23.227 * [backup-simplify]: Simplify (+ 0) into 0
23.228 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.228 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.228 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.229 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.229 * [backup-simplify]: Simplify (- 0) into 0
23.229 * [backup-simplify]: Simplify (+ 0 0) into 0
23.229 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.229 * [backup-simplify]: Simplify (+ 0) into 0
23.230 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.230 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.230 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.231 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.231 * [backup-simplify]: Simplify (- 0) into 0
23.231 * [backup-simplify]: Simplify (+ 0 0) into 0
23.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
23.232 * [backup-simplify]: Simplify (+ 0) into 0
23.232 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.233 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.233 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.234 * [backup-simplify]: Simplify (+ 0 0) into 0
23.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
23.235 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.236 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0
23.237 * [backup-simplify]: Simplify (+ 0) into 0
23.237 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.238 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.238 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.239 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.239 * [backup-simplify]: Simplify (- 0) into 0
23.240 * [backup-simplify]: Simplify (+ 0 0) into 0
23.240 * [backup-simplify]: Simplify (+ 0) into 0
23.241 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.241 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.242 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.242 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.242 * [backup-simplify]: Simplify (+ 0 0) into 0
23.243 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.243 * [backup-simplify]: Simplify (+ 0) into 0
23.244 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.244 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.245 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.245 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.246 * [backup-simplify]: Simplify (+ 0 0) into 0
23.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
23.246 * [backup-simplify]: Simplify (+ 0) into 0
23.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.247 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.248 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.248 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.249 * [backup-simplify]: Simplify (- 0) into 0
23.249 * [backup-simplify]: Simplify (+ 0 0) into 0
23.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
23.250 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.252 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0
23.252 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
23.253 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
23.253 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
23.254 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
23.254 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
23.255 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))
23.255 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
23.256 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)))
23.259 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
23.259 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))))) in phi1
23.259 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) in phi1
23.259 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi1
23.259 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi1
23.259 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi1
23.259 * [taylor]: Taking taylor expansion of phi2 in phi1
23.259 * [backup-simplify]: Simplify phi2 into phi2
23.259 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
23.259 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
23.259 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi1
23.259 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
23.259 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
23.259 * [taylor]: Taking taylor expansion of phi1 in phi1
23.260 * [backup-simplify]: Simplify 0 into 0
23.260 * [backup-simplify]: Simplify 1 into 1
23.260 * [backup-simplify]: Simplify (* 1 1) into 1
23.261 * [backup-simplify]: Simplify (/ 1 1) into 1
23.261 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1
23.261 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1
23.261 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
23.261 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
23.261 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.261 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.261 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.261 * [backup-simplify]: Simplify -0.5 into -0.5
23.261 * [taylor]: Taking taylor expansion of phi2 in phi1
23.261 * [backup-simplify]: Simplify phi2 into phi2
23.261 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.261 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.261 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.261 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.261 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.261 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.261 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
23.261 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.261 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.261 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.261 * [backup-simplify]: Simplify -0.5 into -0.5
23.261 * [taylor]: Taking taylor expansion of phi1 in phi1
23.261 * [backup-simplify]: Simplify 0 into 0
23.261 * [backup-simplify]: Simplify 1 into 1
23.262 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.262 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.262 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
23.262 * [taylor]: Taking taylor expansion of lambda1 in phi1
23.262 * [backup-simplify]: Simplify lambda1 into lambda1
23.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.262 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.262 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.262 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.263 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1
23.263 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1
23.263 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
23.263 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
23.263 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.263 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.263 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.263 * [backup-simplify]: Simplify -0.5 into -0.5
23.263 * [taylor]: Taking taylor expansion of phi2 in phi1
23.263 * [backup-simplify]: Simplify phi2 into phi2
23.263 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.263 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.263 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.263 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.263 * [backup-simplify]: Simplify (- 0) into 0
23.263 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.263 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
23.263 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.263 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.263 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.263 * [backup-simplify]: Simplify -0.5 into -0.5
23.263 * [taylor]: Taking taylor expansion of phi1 in phi1
23.263 * [backup-simplify]: Simplify 0 into 0
23.263 * [backup-simplify]: Simplify 1 into 1
23.264 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.264 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.264 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
23.264 * [taylor]: Taking taylor expansion of lambda2 in phi1
23.264 * [backup-simplify]: Simplify lambda2 into lambda2
23.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.264 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.264 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.265 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
23.265 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1
23.265 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1
23.265 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
23.265 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
23.265 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.265 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.265 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.265 * [backup-simplify]: Simplify -0.5 into -0.5
23.265 * [taylor]: Taking taylor expansion of phi2 in phi1
23.265 * [backup-simplify]: Simplify phi2 into phi2
23.265 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.265 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.265 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.266 * [backup-simplify]: Simplify (- 0) into 0
23.266 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.266 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
23.266 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.266 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.266 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.266 * [backup-simplify]: Simplify -0.5 into -0.5
23.266 * [taylor]: Taking taylor expansion of phi1 in phi1
23.266 * [backup-simplify]: Simplify 0 into 0
23.266 * [backup-simplify]: Simplify 1 into 1
23.266 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.266 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.266 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
23.266 * [taylor]: Taking taylor expansion of lambda1 in phi1
23.266 * [backup-simplify]: Simplify lambda1 into lambda1
23.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.267 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.267 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.267 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.267 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1
23.267 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
23.267 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
23.267 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.267 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.267 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.267 * [backup-simplify]: Simplify -0.5 into -0.5
23.267 * [taylor]: Taking taylor expansion of phi2 in phi1
23.267 * [backup-simplify]: Simplify phi2 into phi2
23.267 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.267 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.267 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.268 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.268 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.268 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.268 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
23.268 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.268 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.268 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.268 * [backup-simplify]: Simplify -0.5 into -0.5
23.268 * [taylor]: Taking taylor expansion of phi1 in phi1
23.268 * [backup-simplify]: Simplify 0 into 0
23.268 * [backup-simplify]: Simplify 1 into 1
23.269 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.269 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.269 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
23.269 * [taylor]: Taking taylor expansion of lambda2 in phi1
23.269 * [backup-simplify]: Simplify lambda2 into lambda2
23.269 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.269 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.269 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.269 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.270 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
23.270 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi1
23.270 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi1
23.270 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi1
23.270 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.270 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.270 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.270 * [backup-simplify]: Simplify -0.5 into -0.5
23.270 * [taylor]: Taking taylor expansion of phi2 in phi1
23.270 * [backup-simplify]: Simplify phi2 into phi2
23.270 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.270 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.270 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.270 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi1
23.270 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.270 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.270 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.270 * [backup-simplify]: Simplify -0.5 into -0.5
23.270 * [taylor]: Taking taylor expansion of phi2 in phi1
23.270 * [backup-simplify]: Simplify phi2 into phi2
23.270 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.270 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.270 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.270 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi1
23.270 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.270 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.270 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.270 * [backup-simplify]: Simplify -0.5 into -0.5
23.270 * [taylor]: Taking taylor expansion of phi1 in phi1
23.270 * [backup-simplify]: Simplify 0 into 0
23.270 * [backup-simplify]: Simplify 1 into 1
23.271 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.271 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.271 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.271 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.271 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.271 * [backup-simplify]: Simplify -0.5 into -0.5
23.271 * [taylor]: Taking taylor expansion of phi1 in phi1
23.271 * [backup-simplify]: Simplify 0 into 0
23.271 * [backup-simplify]: Simplify 1 into 1
23.271 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.271 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.271 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
23.271 * [taylor]: Taking taylor expansion of lambda2 in phi1
23.271 * [backup-simplify]: Simplify lambda2 into lambda2
23.271 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.272 * [backup-simplify]: Simplify (- 0) into 0
23.272 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.272 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.272 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.272 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.273 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.273 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.273 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
23.273 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi1
23.273 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi1
23.273 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
23.273 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.273 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.273 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.273 * [backup-simplify]: Simplify -0.5 into -0.5
23.273 * [taylor]: Taking taylor expansion of phi2 in phi1
23.273 * [backup-simplify]: Simplify phi2 into phi2
23.273 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.273 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.273 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.273 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
23.273 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.273 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.273 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.273 * [backup-simplify]: Simplify -0.5 into -0.5
23.273 * [taylor]: Taking taylor expansion of phi2 in phi1
23.273 * [backup-simplify]: Simplify phi2 into phi2
23.273 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.273 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.273 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.274 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
23.274 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.274 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.274 * [backup-simplify]: Simplify -0.5 into -0.5
23.274 * [taylor]: Taking taylor expansion of phi1 in phi1
23.274 * [backup-simplify]: Simplify 0 into 0
23.274 * [backup-simplify]: Simplify 1 into 1
23.274 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.274 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.274 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.274 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.274 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.274 * [backup-simplify]: Simplify -0.5 into -0.5
23.274 * [taylor]: Taking taylor expansion of phi1 in phi1
23.274 * [backup-simplify]: Simplify 0 into 0
23.274 * [backup-simplify]: Simplify 1 into 1
23.274 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.275 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.275 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
23.275 * [taylor]: Taking taylor expansion of lambda1 in phi1
23.275 * [backup-simplify]: Simplify lambda1 into lambda1
23.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.275 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.275 * [backup-simplify]: Simplify (- 0) into 0
23.275 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.276 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.276 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.276 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
23.276 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi1
23.276 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi1
23.276 * [taylor]: Taking taylor expansion of 2 in phi1
23.276 * [backup-simplify]: Simplify 2 into 2
23.276 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi1
23.276 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi1
23.276 * [taylor]: Taking taylor expansion of phi2 in phi1
23.276 * [backup-simplify]: Simplify phi2 into phi2
23.276 * [taylor]: Taking taylor expansion of phi1 in phi1
23.276 * [backup-simplify]: Simplify 0 into 0
23.276 * [backup-simplify]: Simplify 1 into 1
23.276 * [backup-simplify]: Simplify (* phi2 0) into 0
23.277 * [backup-simplify]: Simplify (+ (* phi2 1) (* 0 0)) into phi2
23.277 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
23.277 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi1
23.277 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi1
23.277 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi1
23.277 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.277 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.277 * [backup-simplify]: Simplify -0.5 into -0.5
23.277 * [taylor]: Taking taylor expansion of phi2 in phi1
23.277 * [backup-simplify]: Simplify phi2 into phi2
23.277 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.277 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi1
23.277 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.277 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.277 * [backup-simplify]: Simplify -0.5 into -0.5
23.277 * [taylor]: Taking taylor expansion of phi2 in phi1
23.277 * [backup-simplify]: Simplify phi2 into phi2
23.277 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.277 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.277 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.277 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi1
23.277 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.277 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.277 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.277 * [backup-simplify]: Simplify -0.5 into -0.5
23.277 * [taylor]: Taking taylor expansion of phi1 in phi1
23.277 * [backup-simplify]: Simplify 0 into 0
23.277 * [backup-simplify]: Simplify 1 into 1
23.278 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.278 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.278 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.278 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.278 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.278 * [backup-simplify]: Simplify -0.5 into -0.5
23.278 * [taylor]: Taking taylor expansion of phi1 in phi1
23.278 * [backup-simplify]: Simplify 0 into 0
23.278 * [backup-simplify]: Simplify 1 into 1
23.278 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.278 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.278 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
23.278 * [taylor]: Taking taylor expansion of lambda1 in phi1
23.278 * [backup-simplify]: Simplify lambda1 into lambda1
23.278 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.278 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.279 * [backup-simplify]: Simplify (- 0) into 0
23.279 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.279 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.279 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.279 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.280 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.280 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2))
23.280 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi1
23.280 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1
23.280 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi1
23.280 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.280 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.280 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.280 * [backup-simplify]: Simplify -0.5 into -0.5
23.280 * [taylor]: Taking taylor expansion of phi2 in phi1
23.280 * [backup-simplify]: Simplify phi2 into phi2
23.280 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.280 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.280 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.280 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi1
23.280 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.280 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.280 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.280 * [backup-simplify]: Simplify -0.5 into -0.5
23.280 * [taylor]: Taking taylor expansion of phi2 in phi1
23.280 * [backup-simplify]: Simplify phi2 into phi2
23.280 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.280 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.280 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.281 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi1
23.281 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.281 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.281 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.281 * [backup-simplify]: Simplify -0.5 into -0.5
23.281 * [taylor]: Taking taylor expansion of phi1 in phi1
23.281 * [backup-simplify]: Simplify 0 into 0
23.281 * [backup-simplify]: Simplify 1 into 1
23.281 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.281 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.281 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.281 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.281 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.281 * [backup-simplify]: Simplify -0.5 into -0.5
23.281 * [taylor]: Taking taylor expansion of phi1 in phi1
23.281 * [backup-simplify]: Simplify 0 into 0
23.281 * [backup-simplify]: Simplify 1 into 1
23.281 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.282 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.282 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
23.282 * [taylor]: Taking taylor expansion of lambda2 in phi1
23.282 * [backup-simplify]: Simplify lambda2 into lambda2
23.282 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.282 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.282 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.282 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.282 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.282 * [backup-simplify]: Simplify (- 0) into 0
23.282 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.282 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.283 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.283 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.283 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.283 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
23.283 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
23.283 * [taylor]: Taking taylor expansion of 2 in phi1
23.283 * [backup-simplify]: Simplify 2 into 2
23.283 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
23.283 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
23.283 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
23.283 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
23.283 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.283 * [backup-simplify]: Simplify -0.5 into -0.5
23.283 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
23.283 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
23.283 * [taylor]: Taking taylor expansion of phi1 in phi1
23.283 * [backup-simplify]: Simplify 0 into 0
23.283 * [backup-simplify]: Simplify 1 into 1
23.284 * [backup-simplify]: Simplify (/ 1 1) into 1
23.284 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
23.284 * [taylor]: Taking taylor expansion of phi2 in phi1
23.284 * [backup-simplify]: Simplify phi2 into phi2
23.284 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
23.284 * [backup-simplify]: Simplify (+ 1 0) into 1
23.284 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
23.285 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.285 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
23.285 * [taylor]: Taking taylor expansion of lambda2 in phi1
23.285 * [backup-simplify]: Simplify lambda2 into lambda2
23.285 * [taylor]: Taking taylor expansion of lambda1 in phi1
23.285 * [backup-simplify]: Simplify lambda1 into lambda1
23.285 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.285 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
23.285 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
23.285 * [backup-simplify]: Simplify (+ 1 0) into 1
23.286 * [backup-simplify]: Simplify (+ 0 1) into 1
23.286 * [backup-simplify]: Simplify (+ 1 0) into 1
23.287 * [backup-simplify]: Simplify (sqrt 1) into 1
23.287 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.287 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
23.288 * [backup-simplify]: Simplify (+ 0 0) into 0
23.288 * [backup-simplify]: Simplify (+ 0 0) into 0
23.288 * [backup-simplify]: Simplify (* 2 (/ 1 phi2)) into (/ 2 phi2)
23.288 * [backup-simplify]: Simplify (+ (/ 2 phi2) 0) into (* 2 (/ 1 phi2))
23.288 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2))
23.288 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi2))) into (* 2 (/ 1 phi2))
23.288 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi2))) into (- (* 2 (/ 1 phi2)))
23.288 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi2)))) into (- (* 2 (/ 1 phi2)))
23.289 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi2))) (* 2 (sqrt 1))) into (/ -1 phi2)
23.289 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))))) in phi2
23.289 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) in phi2
23.289 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in phi2
23.289 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
23.289 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
23.289 * [taylor]: Taking taylor expansion of phi2 in phi2
23.289 * [backup-simplify]: Simplify 0 into 0
23.289 * [backup-simplify]: Simplify 1 into 1
23.289 * [backup-simplify]: Simplify (* 1 1) into 1
23.290 * [backup-simplify]: Simplify (/ 1 1) into 1
23.290 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in phi2
23.290 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
23.290 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
23.290 * [taylor]: Taking taylor expansion of phi1 in phi2
23.290 * [backup-simplify]: Simplify phi1 into phi1
23.290 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
23.290 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
23.290 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2
23.290 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2
23.290 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
23.290 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
23.290 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.290 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.290 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.290 * [backup-simplify]: Simplify -0.5 into -0.5
23.290 * [taylor]: Taking taylor expansion of phi2 in phi2
23.290 * [backup-simplify]: Simplify 0 into 0
23.290 * [backup-simplify]: Simplify 1 into 1
23.290 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.290 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.290 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
23.290 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.290 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.291 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.291 * [backup-simplify]: Simplify -0.5 into -0.5
23.291 * [taylor]: Taking taylor expansion of phi1 in phi2
23.291 * [backup-simplify]: Simplify phi1 into phi1
23.291 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.291 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.291 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.291 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.291 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.291 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.291 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.291 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.291 * [backup-simplify]: Simplify lambda1 into lambda1
23.291 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.291 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.291 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.291 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.292 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.292 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2
23.292 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2
23.292 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
23.292 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
23.292 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.292 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.292 * [backup-simplify]: Simplify -0.5 into -0.5
23.292 * [taylor]: Taking taylor expansion of phi2 in phi2
23.292 * [backup-simplify]: Simplify 0 into 0
23.292 * [backup-simplify]: Simplify 1 into 1
23.292 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.292 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.292 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
23.292 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.292 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.292 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.293 * [backup-simplify]: Simplify -0.5 into -0.5
23.293 * [taylor]: Taking taylor expansion of phi1 in phi2
23.293 * [backup-simplify]: Simplify phi1 into phi1
23.293 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.293 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.293 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.293 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.293 * [backup-simplify]: Simplify (- 0) into 0
23.293 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.293 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
23.293 * [taylor]: Taking taylor expansion of lambda2 in phi2
23.293 * [backup-simplify]: Simplify lambda2 into lambda2
23.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.293 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.294 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.294 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.294 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
23.294 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2
23.294 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2
23.294 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
23.294 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
23.294 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.294 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.294 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.294 * [backup-simplify]: Simplify -0.5 into -0.5
23.294 * [taylor]: Taking taylor expansion of phi2 in phi2
23.294 * [backup-simplify]: Simplify 0 into 0
23.294 * [backup-simplify]: Simplify 1 into 1
23.295 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.295 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.295 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
23.295 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.295 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.295 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.295 * [backup-simplify]: Simplify -0.5 into -0.5
23.295 * [taylor]: Taking taylor expansion of phi1 in phi2
23.295 * [backup-simplify]: Simplify phi1 into phi1
23.295 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.295 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.295 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.295 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.295 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.295 * [backup-simplify]: Simplify (- 0) into 0
23.295 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.295 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.295 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.295 * [backup-simplify]: Simplify lambda1 into lambda1
23.296 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.296 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.296 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.296 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.296 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.296 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2
23.296 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
23.296 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
23.296 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.296 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.296 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.296 * [backup-simplify]: Simplify -0.5 into -0.5
23.296 * [taylor]: Taking taylor expansion of phi2 in phi2
23.296 * [backup-simplify]: Simplify 0 into 0
23.296 * [backup-simplify]: Simplify 1 into 1
23.297 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.297 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.297 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
23.297 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.297 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.297 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.297 * [backup-simplify]: Simplify -0.5 into -0.5
23.297 * [taylor]: Taking taylor expansion of phi1 in phi2
23.297 * [backup-simplify]: Simplify phi1 into phi1
23.297 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.297 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.297 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.297 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.298 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.298 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.298 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
23.298 * [taylor]: Taking taylor expansion of lambda2 in phi2
23.298 * [backup-simplify]: Simplify lambda2 into lambda2
23.298 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.298 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.298 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.298 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.299 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
23.299 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in phi2
23.299 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi2
23.299 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
23.299 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.299 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.299 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.299 * [backup-simplify]: Simplify -0.5 into -0.5
23.299 * [taylor]: Taking taylor expansion of phi2 in phi2
23.299 * [backup-simplify]: Simplify 0 into 0
23.299 * [backup-simplify]: Simplify 1 into 1
23.300 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.300 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.300 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
23.300 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.300 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.300 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.300 * [backup-simplify]: Simplify -0.5 into -0.5
23.300 * [taylor]: Taking taylor expansion of phi2 in phi2
23.300 * [backup-simplify]: Simplify 0 into 0
23.300 * [backup-simplify]: Simplify 1 into 1
23.300 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.301 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.301 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
23.301 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.301 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.301 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.301 * [backup-simplify]: Simplify -0.5 into -0.5
23.301 * [taylor]: Taking taylor expansion of phi1 in phi2
23.301 * [backup-simplify]: Simplify phi1 into phi1
23.301 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.301 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.301 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.301 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.301 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.301 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.301 * [backup-simplify]: Simplify -0.5 into -0.5
23.301 * [taylor]: Taking taylor expansion of phi1 in phi2
23.301 * [backup-simplify]: Simplify phi1 into phi1
23.301 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.301 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.301 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.301 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
23.301 * [taylor]: Taking taylor expansion of lambda2 in phi2
23.301 * [backup-simplify]: Simplify lambda2 into lambda2
23.302 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.302 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.302 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.302 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.302 * [backup-simplify]: Simplify (- 0) into 0
23.302 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.303 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.303 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.303 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.303 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.304 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
23.304 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in phi2
23.304 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2
23.304 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
23.304 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.304 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.304 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.304 * [backup-simplify]: Simplify -0.5 into -0.5
23.304 * [taylor]: Taking taylor expansion of phi2 in phi2
23.304 * [backup-simplify]: Simplify 0 into 0
23.304 * [backup-simplify]: Simplify 1 into 1
23.304 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.305 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.305 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
23.305 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.305 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.305 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.305 * [backup-simplify]: Simplify -0.5 into -0.5
23.305 * [taylor]: Taking taylor expansion of phi2 in phi2
23.305 * [backup-simplify]: Simplify 0 into 0
23.305 * [backup-simplify]: Simplify 1 into 1
23.305 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.305 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.305 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
23.305 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.305 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.305 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.305 * [backup-simplify]: Simplify -0.5 into -0.5
23.305 * [taylor]: Taking taylor expansion of phi1 in phi2
23.306 * [backup-simplify]: Simplify phi1 into phi1
23.306 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.306 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.306 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.306 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.306 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.306 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.306 * [backup-simplify]: Simplify -0.5 into -0.5
23.306 * [taylor]: Taking taylor expansion of phi1 in phi2
23.306 * [backup-simplify]: Simplify phi1 into phi1
23.306 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.306 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.306 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.306 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.306 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.306 * [backup-simplify]: Simplify lambda1 into lambda1
23.306 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.306 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.307 * [backup-simplify]: Simplify (- 0) into 0
23.307 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.307 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.307 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.307 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.308 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.308 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.308 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.308 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.309 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
23.309 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in phi2
23.309 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
23.309 * [taylor]: Taking taylor expansion of 2 in phi2
23.309 * [backup-simplify]: Simplify 2 into 2
23.309 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
23.309 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
23.309 * [taylor]: Taking taylor expansion of phi2 in phi2
23.309 * [backup-simplify]: Simplify 0 into 0
23.309 * [backup-simplify]: Simplify 1 into 1
23.309 * [taylor]: Taking taylor expansion of phi1 in phi2
23.309 * [backup-simplify]: Simplify phi1 into phi1
23.309 * [backup-simplify]: Simplify (* 0 phi1) into 0
23.310 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
23.310 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.310 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in phi2
23.310 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi2
23.310 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
23.310 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.310 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.310 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.310 * [backup-simplify]: Simplify -0.5 into -0.5
23.310 * [taylor]: Taking taylor expansion of phi2 in phi2
23.310 * [backup-simplify]: Simplify 0 into 0
23.310 * [backup-simplify]: Simplify 1 into 1
23.311 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.311 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.311 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
23.311 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.311 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.311 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.311 * [backup-simplify]: Simplify -0.5 into -0.5
23.311 * [taylor]: Taking taylor expansion of phi2 in phi2
23.311 * [backup-simplify]: Simplify 0 into 0
23.311 * [backup-simplify]: Simplify 1 into 1
23.311 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.311 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.312 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
23.312 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.312 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.312 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.312 * [backup-simplify]: Simplify -0.5 into -0.5
23.312 * [taylor]: Taking taylor expansion of phi1 in phi2
23.312 * [backup-simplify]: Simplify phi1 into phi1
23.312 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.312 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.312 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.312 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.312 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.312 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.312 * [backup-simplify]: Simplify -0.5 into -0.5
23.312 * [taylor]: Taking taylor expansion of phi1 in phi2
23.312 * [backup-simplify]: Simplify phi1 into phi1
23.312 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.312 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.312 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.312 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.312 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.312 * [backup-simplify]: Simplify lambda1 into lambda1
23.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.313 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.313 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.313 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.313 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.314 * [backup-simplify]: Simplify (- 0) into 0
23.314 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.314 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.315 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.315 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.315 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.316 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2))
23.316 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in phi2
23.316 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi2
23.316 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
23.316 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.316 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.316 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.316 * [backup-simplify]: Simplify -0.5 into -0.5
23.316 * [taylor]: Taking taylor expansion of phi2 in phi2
23.316 * [backup-simplify]: Simplify 0 into 0
23.316 * [backup-simplify]: Simplify 1 into 1
23.317 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.317 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.317 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
23.317 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.317 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.317 * [backup-simplify]: Simplify -0.5 into -0.5
23.317 * [taylor]: Taking taylor expansion of phi2 in phi2
23.317 * [backup-simplify]: Simplify 0 into 0
23.317 * [backup-simplify]: Simplify 1 into 1
23.317 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.317 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.317 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
23.317 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.317 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.318 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.318 * [backup-simplify]: Simplify -0.5 into -0.5
23.318 * [taylor]: Taking taylor expansion of phi1 in phi2
23.318 * [backup-simplify]: Simplify phi1 into phi1
23.318 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.318 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.318 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.318 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.318 * [backup-simplify]: Simplify -0.5 into -0.5
23.318 * [taylor]: Taking taylor expansion of phi1 in phi2
23.318 * [backup-simplify]: Simplify phi1 into phi1
23.318 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.318 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.318 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.318 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
23.318 * [taylor]: Taking taylor expansion of lambda2 in phi2
23.318 * [backup-simplify]: Simplify lambda2 into lambda2
23.318 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.318 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.319 * [backup-simplify]: Simplify (- 0) into 0
23.319 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.319 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.319 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.319 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.319 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.319 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.319 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.320 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
23.320 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
23.320 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
23.320 * [taylor]: Taking taylor expansion of 2 in phi2
23.320 * [backup-simplify]: Simplify 2 into 2
23.320 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
23.320 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
23.320 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
23.320 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
23.320 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.320 * [backup-simplify]: Simplify -0.5 into -0.5
23.320 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
23.320 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
23.320 * [taylor]: Taking taylor expansion of phi1 in phi2
23.320 * [backup-simplify]: Simplify phi1 into phi1
23.320 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.320 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
23.320 * [taylor]: Taking taylor expansion of phi2 in phi2
23.320 * [backup-simplify]: Simplify 0 into 0
23.320 * [backup-simplify]: Simplify 1 into 1
23.321 * [backup-simplify]: Simplify (/ 1 1) into 1
23.321 * [backup-simplify]: Simplify (+ 0 1) into 1
23.321 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
23.321 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.321 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
23.321 * [taylor]: Taking taylor expansion of lambda2 in phi2
23.321 * [backup-simplify]: Simplify lambda2 into lambda2
23.321 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.321 * [backup-simplify]: Simplify lambda1 into lambda1
23.322 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.322 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
23.322 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
23.327 * [backup-simplify]: Simplify (+ 1 0) into 1
23.327 * [backup-simplify]: Simplify (+ 1 0) into 1
23.327 * [backup-simplify]: Simplify (sqrt 1) into 1
23.328 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.328 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
23.329 * [backup-simplify]: Simplify (+ 0 0) into 0
23.329 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
23.329 * [backup-simplify]: Simplify (+ (/ 2 phi1) 0) into (* 2 (/ 1 phi1))
23.329 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1))
23.329 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1))
23.329 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
23.329 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
23.329 * [backup-simplify]: Simplify (/ (- (* 2 (/ 1 phi1))) (* 2 (sqrt 1))) into (/ -1 phi1)
23.329 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))))) in lambda2
23.330 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) in lambda2
23.330 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda2
23.330 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
23.330 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
23.330 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.330 * [backup-simplify]: Simplify phi2 into phi2
23.330 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
23.330 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
23.330 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2
23.330 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
23.330 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
23.330 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.330 * [backup-simplify]: Simplify phi1 into phi1
23.330 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
23.330 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
23.330 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2
23.330 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2
23.330 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
23.330 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
23.330 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.330 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.330 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.330 * [backup-simplify]: Simplify -0.5 into -0.5
23.330 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.330 * [backup-simplify]: Simplify phi2 into phi2
23.330 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.330 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.330 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.331 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.331 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
23.331 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.331 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.331 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.331 * [backup-simplify]: Simplify -0.5 into -0.5
23.331 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.331 * [backup-simplify]: Simplify phi1 into phi1
23.331 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.331 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.331 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.331 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.331 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.331 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
23.331 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.331 * [backup-simplify]: Simplify lambda1 into lambda1
23.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.331 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.332 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.332 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.332 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.332 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2
23.332 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
23.332 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
23.332 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
23.332 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.332 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.332 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.332 * [backup-simplify]: Simplify -0.5 into -0.5
23.332 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.332 * [backup-simplify]: Simplify phi2 into phi2
23.332 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.332 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.332 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.332 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.332 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.333 * [backup-simplify]: Simplify (- 0) into 0
23.333 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.333 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
23.333 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.333 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.333 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.333 * [backup-simplify]: Simplify -0.5 into -0.5
23.333 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.333 * [backup-simplify]: Simplify phi1 into phi1
23.333 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.333 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.333 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.333 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.333 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.334 * [backup-simplify]: Simplify (- 0) into 0
23.334 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.334 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
23.334 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.334 * [backup-simplify]: Simplify 0 into 0
23.334 * [backup-simplify]: Simplify 1 into 1
23.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.334 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.334 * [backup-simplify]: Simplify (* 1 1) into 1
23.335 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.335 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2
23.335 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2
23.335 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
23.335 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
23.335 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.335 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.335 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.335 * [backup-simplify]: Simplify -0.5 into -0.5
23.335 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.335 * [backup-simplify]: Simplify phi2 into phi2
23.335 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.335 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.335 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.335 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.335 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.335 * [backup-simplify]: Simplify (- 0) into 0
23.335 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.336 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
23.336 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.336 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.336 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.336 * [backup-simplify]: Simplify -0.5 into -0.5
23.336 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.336 * [backup-simplify]: Simplify phi1 into phi1
23.336 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.336 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.336 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.336 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.336 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.336 * [backup-simplify]: Simplify (- 0) into 0
23.337 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.337 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
23.337 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.337 * [backup-simplify]: Simplify lambda1 into lambda1
23.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.337 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.337 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.337 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.337 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
23.337 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
23.337 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
23.337 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.337 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.337 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.337 * [backup-simplify]: Simplify -0.5 into -0.5
23.337 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.338 * [backup-simplify]: Simplify phi2 into phi2
23.338 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.338 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.338 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.338 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.338 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.338 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.338 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
23.338 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.338 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.338 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.338 * [backup-simplify]: Simplify -0.5 into -0.5
23.338 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.338 * [backup-simplify]: Simplify phi1 into phi1
23.338 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.338 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.338 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.338 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.338 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.338 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.338 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
23.338 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.338 * [backup-simplify]: Simplify 0 into 0
23.338 * [backup-simplify]: Simplify 1 into 1
23.339 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.339 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.339 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.339 * [backup-simplify]: Simplify (* 1 1) into 1
23.339 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.339 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda2
23.339 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
23.339 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2
23.340 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.340 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.340 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.340 * [backup-simplify]: Simplify -0.5 into -0.5
23.340 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.340 * [backup-simplify]: Simplify phi2 into phi2
23.340 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.340 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.340 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.340 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2
23.340 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.340 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.340 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.340 * [backup-simplify]: Simplify -0.5 into -0.5
23.340 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.340 * [backup-simplify]: Simplify phi2 into phi2
23.340 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.340 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.340 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.340 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2
23.340 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.340 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.340 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.340 * [backup-simplify]: Simplify -0.5 into -0.5
23.340 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.340 * [backup-simplify]: Simplify phi1 into phi1
23.340 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.340 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.340 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.340 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.340 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.340 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.340 * [backup-simplify]: Simplify -0.5 into -0.5
23.340 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.340 * [backup-simplify]: Simplify phi1 into phi1
23.340 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.340 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.341 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.341 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
23.341 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.341 * [backup-simplify]: Simplify 0 into 0
23.341 * [backup-simplify]: Simplify 1 into 1
23.341 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.341 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.341 * [backup-simplify]: Simplify (- 0) into 0
23.341 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.341 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.341 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.341 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.341 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.341 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.341 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.342 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.342 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.342 * [backup-simplify]: Simplify (- 0) into 0
23.342 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.342 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.342 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.342 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.343 * [backup-simplify]: Simplify (* 1 1) into 1
23.343 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
23.343 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2
23.343 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2
23.343 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
23.343 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.343 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.343 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.343 * [backup-simplify]: Simplify -0.5 into -0.5
23.343 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.343 * [backup-simplify]: Simplify phi2 into phi2
23.343 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.343 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.343 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.343 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
23.343 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.343 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.343 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.343 * [backup-simplify]: Simplify -0.5 into -0.5
23.343 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.343 * [backup-simplify]: Simplify phi2 into phi2
23.343 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.343 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.344 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.344 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
23.344 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.344 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.344 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.344 * [backup-simplify]: Simplify -0.5 into -0.5
23.344 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.344 * [backup-simplify]: Simplify phi1 into phi1
23.344 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.344 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.344 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.344 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.344 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.344 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.344 * [backup-simplify]: Simplify -0.5 into -0.5
23.344 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.344 * [backup-simplify]: Simplify phi1 into phi1
23.344 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.344 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.344 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.344 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
23.344 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.344 * [backup-simplify]: Simplify lambda1 into lambda1
23.344 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.344 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.344 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.344 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.344 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.345 * [backup-simplify]: Simplify (- 0) into 0
23.345 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.345 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.345 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.345 * [backup-simplify]: Simplify (- 0) into 0
23.345 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.345 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.345 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.345 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.346 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.346 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.346 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.346 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.346 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
23.346 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2
23.346 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
23.346 * [taylor]: Taking taylor expansion of 2 in lambda2
23.346 * [backup-simplify]: Simplify 2 into 2
23.346 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
23.346 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
23.346 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.346 * [backup-simplify]: Simplify phi2 into phi2
23.346 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.346 * [backup-simplify]: Simplify phi1 into phi1
23.346 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
23.347 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
23.347 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2
23.347 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2
23.347 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2
23.347 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.347 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.347 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.347 * [backup-simplify]: Simplify -0.5 into -0.5
23.347 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.347 * [backup-simplify]: Simplify phi2 into phi2
23.347 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.347 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.347 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.347 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2
23.347 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.347 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.347 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.347 * [backup-simplify]: Simplify -0.5 into -0.5
23.347 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.347 * [backup-simplify]: Simplify phi2 into phi2
23.347 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.347 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.347 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.347 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2
23.347 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.347 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.347 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.347 * [backup-simplify]: Simplify -0.5 into -0.5
23.347 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.347 * [backup-simplify]: Simplify phi1 into phi1
23.347 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.347 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.347 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.347 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.347 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.347 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.347 * [backup-simplify]: Simplify -0.5 into -0.5
23.348 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.348 * [backup-simplify]: Simplify phi1 into phi1
23.348 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.348 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.348 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.348 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
23.348 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.348 * [backup-simplify]: Simplify lambda1 into lambda1
23.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.348 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.348 * [backup-simplify]: Simplify (- 0) into 0
23.348 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.348 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.348 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.349 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.349 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.349 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.349 * [backup-simplify]: Simplify (- 0) into 0
23.349 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.349 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.350 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.350 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.350 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2))
23.350 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2
23.350 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
23.350 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
23.350 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.350 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.350 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.350 * [backup-simplify]: Simplify -0.5 into -0.5
23.350 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.350 * [backup-simplify]: Simplify phi2 into phi2
23.350 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.350 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.350 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.350 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
23.350 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.350 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.350 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.350 * [backup-simplify]: Simplify -0.5 into -0.5
23.350 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.350 * [backup-simplify]: Simplify phi2 into phi2
23.350 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.351 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
23.351 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.351 * [backup-simplify]: Simplify -0.5 into -0.5
23.351 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.351 * [backup-simplify]: Simplify phi1 into phi1
23.351 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.351 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.351 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.351 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.351 * [backup-simplify]: Simplify -0.5 into -0.5
23.351 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.351 * [backup-simplify]: Simplify phi1 into phi1
23.351 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.351 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.351 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.351 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
23.351 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.351 * [backup-simplify]: Simplify 0 into 0
23.351 * [backup-simplify]: Simplify 1 into 1
23.351 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.351 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.351 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.351 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.351 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.352 * [backup-simplify]: Simplify (- 0) into 0
23.352 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.352 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.352 * [backup-simplify]: Simplify (- 0) into 0
23.352 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.352 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.352 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.353 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.353 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.353 * [backup-simplify]: Simplify (* 1 1) into 1
23.354 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.354 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
23.354 * [taylor]: Taking taylor expansion of 2 in lambda2
23.354 * [backup-simplify]: Simplify 2 into 2
23.354 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
23.354 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
23.354 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
23.354 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
23.354 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.354 * [backup-simplify]: Simplify -0.5 into -0.5
23.354 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
23.354 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
23.354 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.354 * [backup-simplify]: Simplify phi1 into phi1
23.354 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.354 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
23.354 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.354 * [backup-simplify]: Simplify phi2 into phi2
23.354 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
23.354 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
23.354 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
23.354 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.354 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.354 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.355 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
23.355 * [backup-simplify]: Simplify (- 0) into 0
23.355 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.355 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
23.355 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.355 * [backup-simplify]: Simplify 0 into 0
23.355 * [backup-simplify]: Simplify 1 into 1
23.355 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.355 * [backup-simplify]: Simplify lambda1 into lambda1
23.355 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.355 * [backup-simplify]: Simplify (* 0 lambda1) into 0
23.356 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
23.356 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
23.356 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.357 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.358 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.359 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.360 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.360 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.361 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.361 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.362 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.363 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))
23.364 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
23.366 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
23.368 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))
23.369 * [backup-simplify]: Simplify (+ 0) into 0
23.370 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.370 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.372 * [backup-simplify]: Simplify (- 0) into 0
23.372 * [backup-simplify]: Simplify (+ 0 0) into 0
23.372 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.373 * [backup-simplify]: Simplify (+ 0) into 0
23.373 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.374 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.376 * [backup-simplify]: Simplify (- 0) into 0
23.376 * [backup-simplify]: Simplify (+ 0 0) into 0
23.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.377 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.378 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.379 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
23.380 * [backup-simplify]: Simplify (+ 0) into 0
23.381 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.381 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.381 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.382 * [backup-simplify]: Simplify (+ 0 0) into 0
23.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.383 * [backup-simplify]: Simplify (+ 0) into 0
23.384 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.384 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.384 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.385 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.385 * [backup-simplify]: Simplify (+ 0 0) into 0
23.385 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.386 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.387 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.388 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
23.389 * [backup-simplify]: Simplify (+ 0 0) into 0
23.389 * [backup-simplify]: Simplify (+ 0 0) into 0
23.389 * [backup-simplify]: Simplify (+ 0 0) into 0
23.389 * [backup-simplify]: Simplify (+ 0 0) into 0
23.390 * [backup-simplify]: Simplify (+ 0 0) into 0
23.390 * [backup-simplify]: Simplify (+ 0) into 0
23.390 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.390 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.391 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.391 * [backup-simplify]: Simplify (- 0) into 0
23.391 * [backup-simplify]: Simplify (+ 0 0) into 0
23.392 * [backup-simplify]: Simplify (+ 0) into 0
23.392 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.392 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.393 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.393 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.393 * [backup-simplify]: Simplify (+ 0 0) into 0
23.393 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.394 * [backup-simplify]: Simplify (+ 0) into 0
23.394 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.394 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.394 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.395 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.395 * [backup-simplify]: Simplify (+ 0 0) into 0
23.395 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
23.395 * [backup-simplify]: Simplify (+ 0) into 0
23.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.396 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.396 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.397 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.397 * [backup-simplify]: Simplify (- 0) into 0
23.397 * [backup-simplify]: Simplify (+ 0 0) into 0
23.397 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
23.398 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.399 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0
23.399 * [backup-simplify]: Simplify (+ 0) into 0
23.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.399 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.400 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.400 * [backup-simplify]: Simplify (+ 0 0) into 0
23.401 * [backup-simplify]: Simplify (+ 0) into 0
23.401 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.402 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.402 * [backup-simplify]: Simplify (- 0) into 0
23.402 * [backup-simplify]: Simplify (+ 0 0) into 0
23.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.403 * [backup-simplify]: Simplify (+ 0) into 0
23.403 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.403 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.404 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.404 * [backup-simplify]: Simplify (- 0) into 0
23.404 * [backup-simplify]: Simplify (+ 0 0) into 0
23.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
23.405 * [backup-simplify]: Simplify (+ 0) into 0
23.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.405 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.408 * [backup-simplify]: Simplify (+ 0 0) into 0
23.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
23.409 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.410 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0
23.410 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.411 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.411 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.411 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.412 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.412 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.412 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
23.413 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
23.414 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
23.414 * [taylor]: Taking taylor expansion of (sqrt (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))))) in lambda2
23.414 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))))) in lambda2
23.414 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))))) in lambda2
23.414 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in lambda2
23.414 * [taylor]: Taking taylor expansion of (pow phi2 2) in lambda2
23.414 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.414 * [backup-simplify]: Simplify phi2 into phi2
23.415 * [backup-simplify]: Simplify (* phi2 phi2) into (pow phi2 2)
23.415 * [backup-simplify]: Simplify (/ 1 (pow phi2 2)) into (/ 1 (pow phi2 2))
23.415 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))))) in lambda2
23.415 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in lambda2
23.415 * [taylor]: Taking taylor expansion of (pow phi1 2) in lambda2
23.415 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.415 * [backup-simplify]: Simplify phi1 into phi1
23.415 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
23.415 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
23.415 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2
23.415 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2
23.415 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
23.415 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
23.415 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.415 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.415 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.415 * [backup-simplify]: Simplify -0.5 into -0.5
23.415 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.415 * [backup-simplify]: Simplify phi2 into phi2
23.415 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.415 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.415 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.415 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.415 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.415 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.415 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
23.415 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.415 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.416 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.416 * [backup-simplify]: Simplify -0.5 into -0.5
23.416 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.416 * [backup-simplify]: Simplify phi1 into phi1
23.416 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.416 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.416 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.416 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.416 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.416 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
23.416 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.416 * [backup-simplify]: Simplify lambda1 into lambda1
23.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.416 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.416 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.416 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.417 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.417 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2
23.417 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
23.417 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
23.417 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
23.417 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.417 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.417 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.417 * [backup-simplify]: Simplify -0.5 into -0.5
23.417 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.417 * [backup-simplify]: Simplify phi2 into phi2
23.417 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.417 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.417 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.417 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.417 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.418 * [backup-simplify]: Simplify (- 0) into 0
23.418 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.418 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
23.418 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.418 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.418 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.418 * [backup-simplify]: Simplify -0.5 into -0.5
23.418 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.418 * [backup-simplify]: Simplify phi1 into phi1
23.418 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.418 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.418 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.418 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.418 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.418 * [backup-simplify]: Simplify (- 0) into 0
23.419 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.419 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
23.419 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.419 * [backup-simplify]: Simplify 0 into 0
23.419 * [backup-simplify]: Simplify 1 into 1
23.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.419 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.419 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.419 * [backup-simplify]: Simplify (* 1 1) into 1
23.420 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.420 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2
23.420 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2
23.420 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
23.420 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
23.420 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.420 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.420 * [backup-simplify]: Simplify -0.5 into -0.5
23.420 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.420 * [backup-simplify]: Simplify phi2 into phi2
23.420 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.420 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.420 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.420 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.420 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.420 * [backup-simplify]: Simplify (- 0) into 0
23.420 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.420 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
23.420 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.420 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.420 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.421 * [backup-simplify]: Simplify -0.5 into -0.5
23.421 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.421 * [backup-simplify]: Simplify phi1 into phi1
23.421 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.421 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.421 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.421 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.421 * [backup-simplify]: Simplify (- 0) into 0
23.421 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.421 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
23.421 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.421 * [backup-simplify]: Simplify lambda1 into lambda1
23.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.421 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.422 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.422 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.422 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.422 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
23.422 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
23.422 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
23.422 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.422 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.422 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.422 * [backup-simplify]: Simplify -0.5 into -0.5
23.422 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.422 * [backup-simplify]: Simplify phi2 into phi2
23.422 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.422 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.422 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.422 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.422 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.422 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.423 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
23.423 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.423 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.423 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.423 * [backup-simplify]: Simplify -0.5 into -0.5
23.423 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.423 * [backup-simplify]: Simplify phi1 into phi1
23.423 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.423 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.423 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.423 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.423 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.423 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
23.423 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.423 * [backup-simplify]: Simplify 0 into 0
23.423 * [backup-simplify]: Simplify 1 into 1
23.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.423 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.423 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.424 * [backup-simplify]: Simplify (* 1 1) into 1
23.424 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.424 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))))) in lambda2
23.424 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
23.424 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2
23.424 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.424 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.424 * [backup-simplify]: Simplify -0.5 into -0.5
23.424 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.424 * [backup-simplify]: Simplify phi2 into phi2
23.424 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.424 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.424 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.424 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2
23.424 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.425 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.425 * [backup-simplify]: Simplify -0.5 into -0.5
23.425 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.425 * [backup-simplify]: Simplify phi2 into phi2
23.425 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.425 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.425 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2
23.425 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.425 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.425 * [backup-simplify]: Simplify -0.5 into -0.5
23.425 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.425 * [backup-simplify]: Simplify phi1 into phi1
23.425 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.425 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.425 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.425 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.425 * [backup-simplify]: Simplify -0.5 into -0.5
23.425 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.425 * [backup-simplify]: Simplify phi1 into phi1
23.425 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.426 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.426 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.426 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
23.426 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.426 * [backup-simplify]: Simplify 0 into 0
23.426 * [backup-simplify]: Simplify 1 into 1
23.426 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.426 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.426 * [backup-simplify]: Simplify (- 0) into 0
23.427 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.427 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.427 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.427 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.427 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.427 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.428 * [backup-simplify]: Simplify (- 0) into 0
23.428 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.428 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.428 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.429 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.429 * [backup-simplify]: Simplify (* 1 1) into 1
23.429 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
23.429 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))))) in lambda2
23.429 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2
23.430 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
23.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.430 * [backup-simplify]: Simplify -0.5 into -0.5
23.430 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.430 * [backup-simplify]: Simplify phi2 into phi2
23.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.430 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
23.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.430 * [backup-simplify]: Simplify -0.5 into -0.5
23.430 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.430 * [backup-simplify]: Simplify phi2 into phi2
23.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.430 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
23.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.430 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.430 * [backup-simplify]: Simplify -0.5 into -0.5
23.431 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.431 * [backup-simplify]: Simplify phi1 into phi1
23.431 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.431 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.431 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.431 * [backup-simplify]: Simplify -0.5 into -0.5
23.431 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.431 * [backup-simplify]: Simplify phi1 into phi1
23.431 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.431 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
23.431 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.431 * [backup-simplify]: Simplify lambda1 into lambda1
23.431 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.431 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.432 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.432 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.432 * [backup-simplify]: Simplify (- 0) into 0
23.432 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.433 * [backup-simplify]: Simplify (- 0) into 0
23.433 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.433 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.433 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.434 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.435 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
23.435 * [taylor]: Taking taylor expansion of (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))))) in lambda2
23.435 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in lambda2
23.435 * [taylor]: Taking taylor expansion of 2 in lambda2
23.435 * [backup-simplify]: Simplify 2 into 2
23.435 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in lambda2
23.435 * [taylor]: Taking taylor expansion of (* phi2 phi1) in lambda2
23.435 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.435 * [backup-simplify]: Simplify phi2 into phi2
23.435 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.435 * [backup-simplify]: Simplify phi1 into phi1
23.435 * [backup-simplify]: Simplify (* phi2 phi1) into (* phi2 phi1)
23.436 * [backup-simplify]: Simplify (/ 1 (* phi2 phi1)) into (/ 1 (* phi2 phi1))
23.436 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))))) in lambda2
23.436 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2
23.436 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda2
23.436 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.436 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.436 * [backup-simplify]: Simplify -0.5 into -0.5
23.436 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.436 * [backup-simplify]: Simplify phi2 into phi2
23.436 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.436 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.436 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.436 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda2
23.436 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.436 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.436 * [backup-simplify]: Simplify -0.5 into -0.5
23.436 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.436 * [backup-simplify]: Simplify phi2 into phi2
23.436 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.437 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda2
23.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.437 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.437 * [backup-simplify]: Simplify -0.5 into -0.5
23.437 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.437 * [backup-simplify]: Simplify phi1 into phi1
23.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.437 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.437 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.437 * [backup-simplify]: Simplify -0.5 into -0.5
23.437 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.437 * [backup-simplify]: Simplify phi1 into phi1
23.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.438 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.438 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
23.438 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.438 * [backup-simplify]: Simplify lambda1 into lambda1
23.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.438 * [backup-simplify]: Simplify (- 0) into 0
23.438 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.439 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.439 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.440 * [backup-simplify]: Simplify (- 0) into 0
23.440 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.441 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.441 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.441 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2))
23.441 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)))) in lambda2
23.441 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
23.442 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda2
23.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
23.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.442 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.442 * [backup-simplify]: Simplify -0.5 into -0.5
23.442 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.442 * [backup-simplify]: Simplify phi2 into phi2
23.442 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.442 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda2
23.442 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
23.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
23.442 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.442 * [backup-simplify]: Simplify -0.5 into -0.5
23.442 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.442 * [backup-simplify]: Simplify phi2 into phi2
23.442 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.442 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.442 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda2
23.443 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
23.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.443 * [backup-simplify]: Simplify -0.5 into -0.5
23.443 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.443 * [backup-simplify]: Simplify phi1 into phi1
23.443 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.443 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
23.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
23.443 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.443 * [backup-simplify]: Simplify -0.5 into -0.5
23.443 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.443 * [backup-simplify]: Simplify phi1 into phi1
23.443 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.443 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
23.443 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.443 * [backup-simplify]: Simplify 0 into 0
23.443 * [backup-simplify]: Simplify 1 into 1
23.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.444 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.444 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.444 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.445 * [backup-simplify]: Simplify (- 0) into 0
23.445 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.445 * [backup-simplify]: Simplify (- 0) into 0
23.445 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.446 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.446 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.446 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.447 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.447 * [backup-simplify]: Simplify (* 1 1) into 1
23.448 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.448 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
23.448 * [taylor]: Taking taylor expansion of 2 in lambda2
23.448 * [backup-simplify]: Simplify 2 into 2
23.448 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
23.448 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
23.448 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
23.448 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
23.448 * [taylor]: Taking taylor expansion of -0.5 in lambda2
23.448 * [backup-simplify]: Simplify -0.5 into -0.5
23.448 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
23.448 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
23.448 * [taylor]: Taking taylor expansion of phi1 in lambda2
23.448 * [backup-simplify]: Simplify phi1 into phi1
23.448 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.448 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
23.448 * [taylor]: Taking taylor expansion of phi2 in lambda2
23.448 * [backup-simplify]: Simplify phi2 into phi2
23.448 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
23.449 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
23.449 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
23.449 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.449 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.449 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.449 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
23.450 * [backup-simplify]: Simplify (- 0) into 0
23.450 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.450 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
23.450 * [taylor]: Taking taylor expansion of lambda2 in lambda2
23.450 * [backup-simplify]: Simplify 0 into 0
23.450 * [backup-simplify]: Simplify 1 into 1
23.450 * [taylor]: Taking taylor expansion of lambda1 in lambda2
23.450 * [backup-simplify]: Simplify lambda1 into lambda1
23.451 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.451 * [backup-simplify]: Simplify (* 0 lambda1) into 0
23.451 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
23.452 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
23.452 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.453 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.453 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.454 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.454 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.455 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) 0) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.455 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.455 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.456 * [backup-simplify]: Simplify (+ 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.456 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))
23.456 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
23.458 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
23.459 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))
23.459 * [backup-simplify]: Simplify (+ 0) into 0
23.460 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.460 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.460 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.461 * [backup-simplify]: Simplify (- 0) into 0
23.461 * [backup-simplify]: Simplify (+ 0 0) into 0
23.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.462 * [backup-simplify]: Simplify (+ 0) into 0
23.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.462 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.463 * [backup-simplify]: Simplify (- 0) into 0
23.463 * [backup-simplify]: Simplify (+ 0 0) into 0
23.464 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.464 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.464 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.465 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
23.465 * [backup-simplify]: Simplify (+ 0) into 0
23.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.466 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.467 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.467 * [backup-simplify]: Simplify (+ 0 0) into 0
23.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.467 * [backup-simplify]: Simplify (+ 0) into 0
23.468 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.468 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.468 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.469 * [backup-simplify]: Simplify (+ 0 0) into 0
23.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.469 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.470 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.476 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
23.476 * [backup-simplify]: Simplify (+ 0 0) into 0
23.476 * [backup-simplify]: Simplify (+ 0 0) into 0
23.477 * [backup-simplify]: Simplify (+ 0 0) into 0
23.477 * [backup-simplify]: Simplify (+ 0 0) into 0
23.477 * [backup-simplify]: Simplify (+ 0 0) into 0
23.478 * [backup-simplify]: Simplify (+ 0) into 0
23.478 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.478 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.479 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.479 * [backup-simplify]: Simplify (- 0) into 0
23.479 * [backup-simplify]: Simplify (+ 0 0) into 0
23.480 * [backup-simplify]: Simplify (+ 0) into 0
23.480 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.480 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.481 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.481 * [backup-simplify]: Simplify (+ 0 0) into 0
23.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.482 * [backup-simplify]: Simplify (+ 0) into 0
23.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.482 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.483 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.483 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.484 * [backup-simplify]: Simplify (+ 0 0) into 0
23.484 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
23.484 * [backup-simplify]: Simplify (+ 0) into 0
23.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.484 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.485 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.485 * [backup-simplify]: Simplify (- 0) into 0
23.486 * [backup-simplify]: Simplify (+ 0 0) into 0
23.486 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
23.486 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.487 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0
23.487 * [backup-simplify]: Simplify (+ 0) into 0
23.488 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.488 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.489 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.489 * [backup-simplify]: Simplify (+ 0 0) into 0
23.490 * [backup-simplify]: Simplify (+ 0) into 0
23.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.490 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.491 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.491 * [backup-simplify]: Simplify (- 0) into 0
23.491 * [backup-simplify]: Simplify (+ 0 0) into 0
23.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.492 * [backup-simplify]: Simplify (+ 0) into 0
23.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.492 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.493 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.493 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.494 * [backup-simplify]: Simplify (- 0) into 0
23.494 * [backup-simplify]: Simplify (+ 0 0) into 0
23.494 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
23.494 * [backup-simplify]: Simplify (+ 0) into 0
23.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.495 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.495 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.496 * [backup-simplify]: Simplify (+ 0 0) into 0
23.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
23.496 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.497 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0
23.498 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.498 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.498 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.499 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.499 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.499 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.499 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
23.500 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
23.501 * [backup-simplify]: Simplify (/ (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
23.501 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
23.501 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
23.501 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
23.501 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
23.501 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
23.501 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.501 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.501 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.502 * [backup-simplify]: Simplify -0.5 into -0.5
23.502 * [taylor]: Taking taylor expansion of phi2 in phi2
23.502 * [backup-simplify]: Simplify 0 into 0
23.502 * [backup-simplify]: Simplify 1 into 1
23.502 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.502 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.502 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
23.502 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.502 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.502 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.502 * [backup-simplify]: Simplify -0.5 into -0.5
23.502 * [taylor]: Taking taylor expansion of phi1 in phi2
23.502 * [backup-simplify]: Simplify phi1 into phi1
23.502 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.502 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.502 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.502 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.502 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.503 * [backup-simplify]: Simplify (- 0) into 0
23.503 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.503 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
23.503 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
23.503 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.503 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.503 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.503 * [backup-simplify]: Simplify -0.5 into -0.5
23.503 * [taylor]: Taking taylor expansion of phi2 in phi2
23.503 * [backup-simplify]: Simplify 0 into 0
23.503 * [backup-simplify]: Simplify 1 into 1
23.503 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.503 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.503 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
23.503 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.503 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.503 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.503 * [backup-simplify]: Simplify -0.5 into -0.5
23.503 * [taylor]: Taking taylor expansion of phi1 in phi2
23.503 * [backup-simplify]: Simplify phi1 into phi1
23.503 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.503 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.504 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.504 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.504 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.504 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.504 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
23.504 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
23.504 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.504 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.504 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.504 * [backup-simplify]: Simplify -0.5 into -0.5
23.504 * [taylor]: Taking taylor expansion of phi2 in phi2
23.504 * [backup-simplify]: Simplify 0 into 0
23.504 * [backup-simplify]: Simplify 1 into 1
23.504 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.504 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.504 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
23.504 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.504 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.504 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.504 * [backup-simplify]: Simplify -0.5 into -0.5
23.504 * [taylor]: Taking taylor expansion of phi2 in phi2
23.504 * [backup-simplify]: Simplify 0 into 0
23.504 * [backup-simplify]: Simplify 1 into 1
23.505 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.505 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.505 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
23.505 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.505 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.505 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.505 * [backup-simplify]: Simplify -0.5 into -0.5
23.505 * [taylor]: Taking taylor expansion of phi1 in phi2
23.505 * [backup-simplify]: Simplify phi1 into phi1
23.505 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.505 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.505 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.505 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.505 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.505 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.505 * [backup-simplify]: Simplify -0.5 into -0.5
23.505 * [taylor]: Taking taylor expansion of phi1 in phi2
23.505 * [backup-simplify]: Simplify phi1 into phi1
23.505 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.505 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.505 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.505 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
23.505 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.505 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.505 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.505 * [backup-simplify]: Simplify -0.5 into -0.5
23.506 * [taylor]: Taking taylor expansion of phi2 in phi2
23.506 * [backup-simplify]: Simplify 0 into 0
23.506 * [backup-simplify]: Simplify 1 into 1
23.506 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.506 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.506 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
23.506 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.506 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.506 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.506 * [backup-simplify]: Simplify -0.5 into -0.5
23.506 * [taylor]: Taking taylor expansion of phi2 in phi2
23.506 * [backup-simplify]: Simplify 0 into 0
23.506 * [backup-simplify]: Simplify 1 into 1
23.506 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.506 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.506 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
23.506 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.507 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.507 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.507 * [backup-simplify]: Simplify -0.5 into -0.5
23.507 * [taylor]: Taking taylor expansion of phi1 in phi2
23.507 * [backup-simplify]: Simplify phi1 into phi1
23.507 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.507 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.507 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.507 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.507 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.507 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.507 * [backup-simplify]: Simplify -0.5 into -0.5
23.507 * [taylor]: Taking taylor expansion of phi1 in phi2
23.507 * [backup-simplify]: Simplify phi1 into phi1
23.507 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.507 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.507 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.507 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.507 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.508 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.508 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.508 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.508 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.509 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.509 * [backup-simplify]: Simplify (- 0) into 0
23.509 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.509 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.509 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.509 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.509 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.510 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.510 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.510 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.510 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.510 * [backup-simplify]: Simplify (- 0) into 0
23.510 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.510 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.511 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.511 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
23.512 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
23.513 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
23.514 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
23.515 * [backup-simplify]: Simplify (+ 0) into 0
23.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.515 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.516 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.516 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.516 * [backup-simplify]: Simplify (- 0) into 0
23.517 * [backup-simplify]: Simplify (+ 0 0) into 0
23.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.517 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.517 * [backup-simplify]: Simplify (+ 0) into 0
23.518 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.518 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.519 * [backup-simplify]: Simplify (+ 0 0) into 0
23.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.519 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.519 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.520 * [backup-simplify]: Simplify (+ 0 0) into 0
23.520 * [backup-simplify]: Simplify (+ 0) into 0
23.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.520 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.521 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.521 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.521 * [backup-simplify]: Simplify (+ 0 0) into 0
23.522 * [backup-simplify]: Simplify (+ 0) into 0
23.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.522 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.522 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.523 * [backup-simplify]: Simplify (- 0) into 0
23.523 * [backup-simplify]: Simplify (+ 0 0) into 0
23.523 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.524 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
23.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
23.524 * [backup-simplify]: Simplify (+ 0) into 0
23.524 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.524 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.525 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.525 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.525 * [backup-simplify]: Simplify (- 0) into 0
23.526 * [backup-simplify]: Simplify (+ 0 0) into 0
23.526 * [backup-simplify]: Simplify (+ 0) into 0
23.526 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.526 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.527 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.527 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.527 * [backup-simplify]: Simplify (+ 0 0) into 0
23.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.528 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
23.528 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
23.528 * [backup-simplify]: Simplify (+ 0 0) into 0
23.528 * [backup-simplify]: Simplify (- 0) into 0
23.529 * [backup-simplify]: Simplify (+ 0 0) into 0
23.530 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0
23.530 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2
23.530 * [taylor]: Taking taylor expansion of -1 in phi2
23.530 * [backup-simplify]: Simplify -1 into -1
23.530 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2
23.530 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2
23.530 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
23.530 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
23.530 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
23.530 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
23.530 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
23.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.530 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.530 * [backup-simplify]: Simplify -0.5 into -0.5
23.530 * [taylor]: Taking taylor expansion of phi2 in phi2
23.530 * [backup-simplify]: Simplify 0 into 0
23.530 * [backup-simplify]: Simplify 1 into 1
23.531 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.531 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
23.531 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.531 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.531 * [backup-simplify]: Simplify -0.5 into -0.5
23.531 * [taylor]: Taking taylor expansion of phi1 in phi2
23.531 * [backup-simplify]: Simplify phi1 into phi1
23.531 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.531 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.531 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.532 * [backup-simplify]: Simplify (- 0) into 0
23.532 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.532 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
23.532 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
23.532 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.532 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.532 * [backup-simplify]: Simplify -0.5 into -0.5
23.532 * [taylor]: Taking taylor expansion of phi2 in phi2
23.532 * [backup-simplify]: Simplify 0 into 0
23.532 * [backup-simplify]: Simplify 1 into 1
23.532 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.532 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
23.532 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.532 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.532 * [backup-simplify]: Simplify -0.5 into -0.5
23.532 * [taylor]: Taking taylor expansion of phi1 in phi2
23.532 * [backup-simplify]: Simplify phi1 into phi1
23.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.533 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.533 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.533 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
23.533 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
23.533 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.533 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.533 * [backup-simplify]: Simplify -0.5 into -0.5
23.533 * [taylor]: Taking taylor expansion of phi2 in phi2
23.533 * [backup-simplify]: Simplify 0 into 0
23.533 * [backup-simplify]: Simplify 1 into 1
23.533 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.533 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
23.533 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.533 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.533 * [backup-simplify]: Simplify -0.5 into -0.5
23.533 * [taylor]: Taking taylor expansion of phi2 in phi2
23.533 * [backup-simplify]: Simplify 0 into 0
23.533 * [backup-simplify]: Simplify 1 into 1
23.534 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.534 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
23.534 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.534 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.534 * [backup-simplify]: Simplify -0.5 into -0.5
23.534 * [taylor]: Taking taylor expansion of phi1 in phi2
23.534 * [backup-simplify]: Simplify phi1 into phi1
23.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.534 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.534 * [backup-simplify]: Simplify -0.5 into -0.5
23.534 * [taylor]: Taking taylor expansion of phi1 in phi2
23.534 * [backup-simplify]: Simplify phi1 into phi1
23.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.534 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
23.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.534 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.534 * [backup-simplify]: Simplify -0.5 into -0.5
23.534 * [taylor]: Taking taylor expansion of phi2 in phi2
23.534 * [backup-simplify]: Simplify 0 into 0
23.534 * [backup-simplify]: Simplify 1 into 1
23.535 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.535 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
23.535 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.535 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.535 * [backup-simplify]: Simplify -0.5 into -0.5
23.535 * [taylor]: Taking taylor expansion of phi2 in phi2
23.535 * [backup-simplify]: Simplify 0 into 0
23.535 * [backup-simplify]: Simplify 1 into 1
23.535 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.535 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
23.535 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.535 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.535 * [backup-simplify]: Simplify -0.5 into -0.5
23.535 * [taylor]: Taking taylor expansion of phi1 in phi2
23.535 * [backup-simplify]: Simplify phi1 into phi1
23.535 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.535 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.536 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.536 * [backup-simplify]: Simplify -0.5 into -0.5
23.536 * [taylor]: Taking taylor expansion of phi1 in phi2
23.536 * [backup-simplify]: Simplify phi1 into phi1
23.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.536 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.536 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.536 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.537 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.537 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.537 * [backup-simplify]: Simplify (- 0) into 0
23.538 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.538 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.538 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.539 * [backup-simplify]: Simplify (- 0) into 0
23.539 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.539 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.539 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.540 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
23.540 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
23.541 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
23.543 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
23.544 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
23.544 * [backup-simplify]: Simplify (+ 0) into 0
23.544 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.545 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.545 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.545 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.546 * [backup-simplify]: Simplify (- 0) into 0
23.546 * [backup-simplify]: Simplify (+ 0 0) into 0
23.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.546 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.546 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.547 * [backup-simplify]: Simplify (+ 0) into 0
23.547 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.547 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.548 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.548 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.548 * [backup-simplify]: Simplify (+ 0 0) into 0
23.548 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.548 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.549 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.549 * [backup-simplify]: Simplify (+ 0 0) into 0
23.549 * [backup-simplify]: Simplify (+ 0) into 0
23.550 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.550 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.551 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.551 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.552 * [backup-simplify]: Simplify (+ 0 0) into 0
23.552 * [backup-simplify]: Simplify (+ 0) into 0
23.553 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.553 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.554 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.554 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.554 * [backup-simplify]: Simplify (- 0) into 0
23.555 * [backup-simplify]: Simplify (+ 0 0) into 0
23.555 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.555 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
23.556 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
23.556 * [backup-simplify]: Simplify (+ 0) into 0
23.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.557 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.558 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.558 * [backup-simplify]: Simplify (- 0) into 0
23.559 * [backup-simplify]: Simplify (+ 0 0) into 0
23.559 * [backup-simplify]: Simplify (+ 0) into 0
23.560 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.560 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.561 * [backup-simplify]: Simplify (+ 0 0) into 0
23.561 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.561 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
23.562 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
23.562 * [backup-simplify]: Simplify (+ 0 0) into 0
23.562 * [backup-simplify]: Simplify (- 0) into 0
23.562 * [backup-simplify]: Simplify (+ 0 0) into 0
23.565 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
23.566 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
23.566 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2
23.566 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
23.566 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
23.566 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
23.566 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.566 * [backup-simplify]: Simplify -0.5 into -0.5
23.566 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
23.566 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
23.566 * [taylor]: Taking taylor expansion of phi1 in phi2
23.566 * [backup-simplify]: Simplify phi1 into phi1
23.566 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.566 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
23.566 * [taylor]: Taking taylor expansion of phi2 in phi2
23.566 * [backup-simplify]: Simplify 0 into 0
23.566 * [backup-simplify]: Simplify 1 into 1
23.567 * [backup-simplify]: Simplify (/ 1 1) into 1
23.567 * [backup-simplify]: Simplify (+ 0 1) into 1
23.567 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
23.567 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.567 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.567 * [backup-simplify]: Simplify lambda1 into lambda1
23.567 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.568 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
23.568 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
23.568 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
23.568 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
23.568 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
23.568 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
23.568 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.568 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.568 * [backup-simplify]: Simplify -0.5 into -0.5
23.568 * [taylor]: Taking taylor expansion of phi2 in phi1
23.568 * [backup-simplify]: Simplify phi2 into phi2
23.568 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.568 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.568 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.568 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.569 * [backup-simplify]: Simplify (- 0) into 0
23.569 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.569 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
23.569 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.569 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.569 * [backup-simplify]: Simplify -0.5 into -0.5
23.569 * [taylor]: Taking taylor expansion of phi1 in phi1
23.569 * [backup-simplify]: Simplify 0 into 0
23.569 * [backup-simplify]: Simplify 1 into 1
23.569 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.569 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
23.569 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
23.569 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.569 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.569 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.569 * [backup-simplify]: Simplify -0.5 into -0.5
23.569 * [taylor]: Taking taylor expansion of phi2 in phi1
23.569 * [backup-simplify]: Simplify phi2 into phi2
23.569 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.569 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.569 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.570 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.570 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.570 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
23.570 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.570 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.570 * [backup-simplify]: Simplify -0.5 into -0.5
23.570 * [taylor]: Taking taylor expansion of phi1 in phi1
23.570 * [backup-simplify]: Simplify 0 into 0
23.570 * [backup-simplify]: Simplify 1 into 1
23.570 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.570 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
23.570 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
23.570 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.570 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.570 * [backup-simplify]: Simplify -0.5 into -0.5
23.570 * [taylor]: Taking taylor expansion of phi1 in phi1
23.570 * [backup-simplify]: Simplify 0 into 0
23.570 * [backup-simplify]: Simplify 1 into 1
23.571 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.571 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
23.571 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.571 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.571 * [backup-simplify]: Simplify -0.5 into -0.5
23.571 * [taylor]: Taking taylor expansion of phi2 in phi1
23.571 * [backup-simplify]: Simplify phi2 into phi2
23.571 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.571 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.571 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
23.571 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.571 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.571 * [backup-simplify]: Simplify -0.5 into -0.5
23.571 * [taylor]: Taking taylor expansion of phi2 in phi1
23.571 * [backup-simplify]: Simplify phi2 into phi2
23.571 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.571 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.571 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.571 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.571 * [backup-simplify]: Simplify -0.5 into -0.5
23.571 * [taylor]: Taking taylor expansion of phi1 in phi1
23.571 * [backup-simplify]: Simplify 0 into 0
23.571 * [backup-simplify]: Simplify 1 into 1
23.572 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.572 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
23.572 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.572 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.572 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.572 * [backup-simplify]: Simplify -0.5 into -0.5
23.572 * [taylor]: Taking taylor expansion of phi1 in phi1
23.572 * [backup-simplify]: Simplify 0 into 0
23.572 * [backup-simplify]: Simplify 1 into 1
23.572 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.572 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
23.572 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.572 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.572 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.572 * [backup-simplify]: Simplify -0.5 into -0.5
23.572 * [taylor]: Taking taylor expansion of phi2 in phi1
23.572 * [backup-simplify]: Simplify phi2 into phi2
23.572 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.572 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.572 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
23.572 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.572 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.573 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.573 * [backup-simplify]: Simplify -0.5 into -0.5
23.573 * [taylor]: Taking taylor expansion of phi2 in phi1
23.573 * [backup-simplify]: Simplify phi2 into phi2
23.573 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.573 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.573 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.573 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.573 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.573 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.573 * [backup-simplify]: Simplify -0.5 into -0.5
23.573 * [taylor]: Taking taylor expansion of phi1 in phi1
23.573 * [backup-simplify]: Simplify 0 into 0
23.573 * [backup-simplify]: Simplify 1 into 1
23.573 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.573 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.573 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.574 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.574 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.574 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.575 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.575 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.575 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.575 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.575 * [backup-simplify]: Simplify (- 0) into 0
23.575 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.575 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
23.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
23.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
23.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.576 * [backup-simplify]: Simplify (- 0) into 0
23.576 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.576 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
23.577 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
23.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
23.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))
23.578 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
23.579 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
23.580 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))
23.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.581 * [backup-simplify]: Simplify (+ 0) into 0
23.581 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.581 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.582 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.582 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.582 * [backup-simplify]: Simplify (- 0) into 0
23.583 * [backup-simplify]: Simplify (+ 0 0) into 0
23.583 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.583 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.583 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.584 * [backup-simplify]: Simplify (+ 0) into 0
23.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.584 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.585 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.585 * [backup-simplify]: Simplify (+ 0 0) into 0
23.585 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.586 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.586 * [backup-simplify]: Simplify (+ 0 0) into 0
23.586 * [backup-simplify]: Simplify (+ 0) into 0
23.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.587 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.587 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.588 * [backup-simplify]: Simplify (- 0) into 0
23.588 * [backup-simplify]: Simplify (+ 0 0) into 0
23.588 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.588 * [backup-simplify]: Simplify (+ 0) into 0
23.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.589 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.595 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.596 * [backup-simplify]: Simplify (+ 0 0) into 0
23.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
23.597 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0
23.598 * [backup-simplify]: Simplify (+ 0) into 0
23.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.599 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.600 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.600 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.601 * [backup-simplify]: Simplify (+ 0 0) into 0
23.601 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.601 * [backup-simplify]: Simplify (+ 0) into 0
23.602 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.602 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.603 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.603 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.604 * [backup-simplify]: Simplify (- 0) into 0
23.604 * [backup-simplify]: Simplify (+ 0 0) into 0
23.604 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
23.605 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0
23.605 * [backup-simplify]: Simplify (+ 0 0) into 0
23.606 * [backup-simplify]: Simplify (- 0) into 0
23.606 * [backup-simplify]: Simplify (+ 0 0) into 0
23.608 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) into 0
23.609 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.610 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.611 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.611 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.612 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.612 * [backup-simplify]: Simplify (- 0) into 0
23.613 * [backup-simplify]: Simplify (+ 0 0) into 0
23.613 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
23.614 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.616 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.616 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.617 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.618 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.618 * [backup-simplify]: Simplify (- 0) into 0
23.618 * [backup-simplify]: Simplify (+ 0 0) into 0
23.619 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
23.620 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
23.621 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.623 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
23.624 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.625 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.626 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.626 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.627 * [backup-simplify]: Simplify (+ 0 0) into 0
23.627 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
23.628 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.629 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.629 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.630 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.630 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.631 * [backup-simplify]: Simplify (+ 0 0) into 0
23.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
23.632 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
23.633 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.635 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
23.636 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 0) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.636 * [backup-simplify]: Simplify (+ 0 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.637 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))
23.639 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) into (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))
23.641 * [backup-simplify]: Simplify (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) into (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))))
23.642 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.643 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.643 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.644 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.645 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.645 * [backup-simplify]: Simplify (- 0) into 0
23.645 * [backup-simplify]: Simplify (+ 0 0) into 0
23.646 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.647 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.647 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.648 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.649 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.649 * [backup-simplify]: Simplify (+ 0 0) into 0
23.650 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
23.650 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.652 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.654 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.654 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.655 * [backup-simplify]: Simplify (+ 0 0) into 0
23.655 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
23.656 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.657 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.657 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.658 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.659 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.659 * [backup-simplify]: Simplify (- 0) into 0
23.660 * [backup-simplify]: Simplify (+ 0 0) into 0
23.660 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0
23.661 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.663 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
23.663 * [backup-simplify]: Simplify (* 2 (/ 1 (* phi2 phi1))) into (/ 2 (* phi2 phi1))
23.664 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.665 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.665 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.666 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.667 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.667 * [backup-simplify]: Simplify (+ 0 0) into 0
23.668 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.669 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
23.669 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
23.670 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.671 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
23.671 * [backup-simplify]: Simplify (- 0) into 0
23.672 * [backup-simplify]: Simplify (+ 0 0) into 0
23.673 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
23.674 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.674 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.675 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.675 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.676 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.676 * [backup-simplify]: Simplify (- 0) into 0
23.677 * [backup-simplify]: Simplify (+ 0 0) into 0
23.677 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
23.678 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
23.679 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
23.679 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
23.680 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
23.681 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
23.681 * [backup-simplify]: Simplify (+ 0 0) into 0
23.682 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0
23.683 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
23.685 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
23.685 * [backup-simplify]: Simplify (+ 0) into 0
23.686 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
23.686 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
23.686 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
23.686 * [backup-simplify]: Simplify (+ 0 0) into 0
23.687 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
23.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.688 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
23.689 * [backup-simplify]: Simplify (- 0) into 0
23.689 * [backup-simplify]: Simplify (+ 0 0) into 0
23.690 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
23.690 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
23.691 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
23.692 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
23.692 * [backup-simplify]: Simplify (+ 0 0) into 0
23.693 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) 0) into (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
23.694 * [backup-simplify]: Simplify (+ (/ 2 (* phi2 phi1)) (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))) into (+ (* 2 (/ 1 (* phi2 phi1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)))
23.695 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)))) into (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))
23.697 * [backup-simplify]: Simplify (+ 0 (+ (* 2 (/ 1 (* phi2 phi1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) into (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2))))
23.699 * [backup-simplify]: Simplify (- (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2))))) into (- (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1))))))
23.703 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi2 2)) (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (- (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1))))))) into (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))
23.714 * [backup-simplify]: Simplify (/ (- (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (+ (* 2 (/ 1 (* phi2 phi1))) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) (pow (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
23.714 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2
23.714 * [taylor]: Taking taylor expansion of 1/2 in phi2
23.714 * [backup-simplify]: Simplify 1/2 into 1/2
23.714 * [taylor]: Taking taylor expansion of (* (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
23.714 * [taylor]: Taking taylor expansion of (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1))))))) in phi2
23.715 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))) in phi2
23.715 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi2
23.715 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
23.715 * [taylor]: Taking taylor expansion of phi1 in phi2
23.715 * [backup-simplify]: Simplify phi1 into phi1
23.715 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
23.715 * [backup-simplify]: Simplify (/ 1 (pow phi1 2)) into (/ 1 (pow phi1 2))
23.715 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)))) in phi2
23.715 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2
23.715 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
23.715 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
23.715 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.715 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.715 * [backup-simplify]: Simplify -0.5 into -0.5
23.715 * [taylor]: Taking taylor expansion of phi2 in phi2
23.715 * [backup-simplify]: Simplify 0 into 0
23.715 * [backup-simplify]: Simplify 1 into 1
23.716 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.716 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.716 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
23.716 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.716 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.716 * [backup-simplify]: Simplify -0.5 into -0.5
23.716 * [taylor]: Taking taylor expansion of phi1 in phi2
23.716 * [backup-simplify]: Simplify phi1 into phi1
23.716 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.717 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.717 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.717 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.717 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.717 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.717 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.717 * [backup-simplify]: Simplify lambda1 into lambda1
23.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.718 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.718 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.718 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.719 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.719 * [taylor]: Taking taylor expansion of (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) in phi2
23.719 * [taylor]: Taking taylor expansion of (/ 1 (pow phi2 2)) in phi2
23.719 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
23.719 * [taylor]: Taking taylor expansion of phi2 in phi2
23.719 * [backup-simplify]: Simplify 0 into 0
23.719 * [backup-simplify]: Simplify 1 into 1
23.720 * [backup-simplify]: Simplify (* 1 1) into 1
23.720 * [backup-simplify]: Simplify (/ 1 1) into 1
23.720 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2
23.720 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
23.720 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
23.720 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.721 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.721 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.721 * [backup-simplify]: Simplify -0.5 into -0.5
23.721 * [taylor]: Taking taylor expansion of phi2 in phi2
23.721 * [backup-simplify]: Simplify 0 into 0
23.721 * [backup-simplify]: Simplify 1 into 1
23.721 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.721 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.721 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
23.721 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.721 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.721 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.721 * [backup-simplify]: Simplify -0.5 into -0.5
23.721 * [taylor]: Taking taylor expansion of phi1 in phi2
23.722 * [backup-simplify]: Simplify phi1 into phi1
23.722 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.722 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.722 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.722 * [backup-simplify]: Simplify (- 0) into 0
23.723 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.723 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.723 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.723 * [backup-simplify]: Simplify lambda1 into lambda1
23.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.723 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.724 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.724 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
23.724 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1)))))) in phi2
23.724 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2
23.724 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
23.724 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.724 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.724 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.724 * [backup-simplify]: Simplify -0.5 into -0.5
23.725 * [taylor]: Taking taylor expansion of phi1 in phi2
23.725 * [backup-simplify]: Simplify phi1 into phi1
23.725 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.725 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.725 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.725 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
23.725 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.725 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.725 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.725 * [backup-simplify]: Simplify -0.5 into -0.5
23.725 * [taylor]: Taking taylor expansion of phi2 in phi2
23.725 * [backup-simplify]: Simplify 0 into 0
23.725 * [backup-simplify]: Simplify 1 into 1
23.726 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.726 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.726 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
23.726 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.726 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.726 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.726 * [backup-simplify]: Simplify -0.5 into -0.5
23.726 * [taylor]: Taking taylor expansion of phi2 in phi2
23.726 * [backup-simplify]: Simplify 0 into 0
23.726 * [backup-simplify]: Simplify 1 into 1
23.727 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.727 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.727 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.727 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.727 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.727 * [backup-simplify]: Simplify -0.5 into -0.5
23.727 * [taylor]: Taking taylor expansion of phi1 in phi2
23.727 * [backup-simplify]: Simplify phi1 into phi1
23.727 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.727 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.727 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.727 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.727 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.727 * [backup-simplify]: Simplify lambda1 into lambda1
23.727 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.727 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.728 * [backup-simplify]: Simplify (- 0) into 0
23.728 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.728 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.728 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.728 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.729 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
23.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
23.729 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
23.729 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.730 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
23.730 * [taylor]: Taking taylor expansion of (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1))))) in phi2
23.730 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
23.730 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi2
23.730 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
23.730 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
23.730 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.730 * [backup-simplify]: Simplify -0.5 into -0.5
23.730 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
23.730 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
23.730 * [taylor]: Taking taylor expansion of phi1 in phi2
23.730 * [backup-simplify]: Simplify phi1 into phi1
23.730 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.730 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
23.730 * [taylor]: Taking taylor expansion of phi2 in phi2
23.730 * [backup-simplify]: Simplify 0 into 0
23.731 * [backup-simplify]: Simplify 1 into 1
23.731 * [backup-simplify]: Simplify (/ 1 1) into 1
23.731 * [backup-simplify]: Simplify (+ 0 1) into 1
23.732 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
23.732 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.732 * [taylor]: Taking taylor expansion of (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
23.732 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.732 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.732 * [backup-simplify]: Simplify lambda1 into lambda1
23.732 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
23.732 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
23.732 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
23.733 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
23.733 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.733 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.733 * [backup-simplify]: Simplify -0.5 into -0.5
23.733 * [taylor]: Taking taylor expansion of phi2 in phi2
23.733 * [backup-simplify]: Simplify 0 into 0
23.733 * [backup-simplify]: Simplify 1 into 1
23.733 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.733 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.733 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
23.733 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.733 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.733 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.734 * [backup-simplify]: Simplify -0.5 into -0.5
23.734 * [taylor]: Taking taylor expansion of phi1 in phi2
23.734 * [backup-simplify]: Simplify phi1 into phi1
23.734 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.734 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.734 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.734 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.735 * [backup-simplify]: Simplify (- 0) into 0
23.735 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.735 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
23.735 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
23.735 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.735 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.735 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.735 * [backup-simplify]: Simplify -0.5 into -0.5
23.735 * [taylor]: Taking taylor expansion of phi2 in phi2
23.735 * [backup-simplify]: Simplify 0 into 0
23.735 * [backup-simplify]: Simplify 1 into 1
23.735 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.736 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
23.736 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.736 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.736 * [backup-simplify]: Simplify -0.5 into -0.5
23.736 * [taylor]: Taking taylor expansion of phi1 in phi2
23.736 * [backup-simplify]: Simplify phi1 into phi1
23.736 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.736 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.736 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.736 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.736 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
23.736 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
23.737 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.737 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.737 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.737 * [backup-simplify]: Simplify -0.5 into -0.5
23.737 * [taylor]: Taking taylor expansion of phi2 in phi2
23.737 * [backup-simplify]: Simplify 0 into 0
23.737 * [backup-simplify]: Simplify 1 into 1
23.737 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.737 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.737 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
23.737 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.738 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.738 * [backup-simplify]: Simplify -0.5 into -0.5
23.738 * [taylor]: Taking taylor expansion of phi2 in phi2
23.738 * [backup-simplify]: Simplify 0 into 0
23.738 * [backup-simplify]: Simplify 1 into 1
23.738 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.738 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.738 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
23.738 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.738 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.738 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.738 * [backup-simplify]: Simplify -0.5 into -0.5
23.738 * [taylor]: Taking taylor expansion of phi1 in phi2
23.739 * [backup-simplify]: Simplify phi1 into phi1
23.739 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.739 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.739 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.739 * [backup-simplify]: Simplify -0.5 into -0.5
23.739 * [taylor]: Taking taylor expansion of phi1 in phi2
23.739 * [backup-simplify]: Simplify phi1 into phi1
23.739 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.739 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.739 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.739 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
23.739 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.739 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.739 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.739 * [backup-simplify]: Simplify -0.5 into -0.5
23.739 * [taylor]: Taking taylor expansion of phi2 in phi2
23.739 * [backup-simplify]: Simplify 0 into 0
23.739 * [backup-simplify]: Simplify 1 into 1
23.740 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.740 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.740 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
23.740 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.740 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.740 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.740 * [backup-simplify]: Simplify -0.5 into -0.5
23.740 * [taylor]: Taking taylor expansion of phi2 in phi2
23.740 * [backup-simplify]: Simplify 0 into 0
23.740 * [backup-simplify]: Simplify 1 into 1
23.741 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.741 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
23.741 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.741 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.741 * [backup-simplify]: Simplify -0.5 into -0.5
23.741 * [taylor]: Taking taylor expansion of phi1 in phi2
23.741 * [backup-simplify]: Simplify phi1 into phi1
23.741 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.741 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.741 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.741 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.742 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.742 * [backup-simplify]: Simplify -0.5 into -0.5
23.742 * [taylor]: Taking taylor expansion of phi1 in phi2
23.742 * [backup-simplify]: Simplify phi1 into phi1
23.742 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.742 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.743 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
23.743 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.744 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.745 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.745 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.746 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.747 * [backup-simplify]: Simplify (- 0) into 0
23.747 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.747 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.748 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.748 * [backup-simplify]: Simplify (- 0) into 0
23.748 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.748 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.749 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.749 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.750 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
23.751 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
23.754 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
23.756 * [backup-simplify]: Simplify (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))
23.759 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
23.759 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1)))) in phi2
23.759 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) in phi2
23.759 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi2
23.759 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.759 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.759 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.759 * [backup-simplify]: Simplify -0.5 into -0.5
23.759 * [taylor]: Taking taylor expansion of phi1 in phi2
23.759 * [backup-simplify]: Simplify phi1 into phi1
23.759 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.759 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.759 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi2
23.759 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.759 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.760 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.760 * [backup-simplify]: Simplify -0.5 into -0.5
23.760 * [taylor]: Taking taylor expansion of phi2 in phi2
23.760 * [backup-simplify]: Simplify 0 into 0
23.760 * [backup-simplify]: Simplify 1 into 1
23.760 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.760 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.760 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2
23.760 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.760 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.761 * [backup-simplify]: Simplify -0.5 into -0.5
23.761 * [taylor]: Taking taylor expansion of phi1 in phi2
23.761 * [backup-simplify]: Simplify phi1 into phi1
23.761 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.761 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.761 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.761 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.761 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.761 * [backup-simplify]: Simplify -0.5 into -0.5
23.761 * [taylor]: Taking taylor expansion of phi2 in phi2
23.761 * [backup-simplify]: Simplify 0 into 0
23.761 * [backup-simplify]: Simplify 1 into 1
23.761 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.761 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
23.761 * [taylor]: Taking taylor expansion of lambda1 in phi2
23.761 * [backup-simplify]: Simplify lambda1 into lambda1
23.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.761 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.762 * [backup-simplify]: Simplify (- 0) into 0
23.762 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.762 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
23.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.763 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
23.763 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2))
23.763 * [taylor]: Taking taylor expansion of (* 2 (/ 1 (* phi2 phi1))) in phi2
23.763 * [taylor]: Taking taylor expansion of 2 in phi2
23.763 * [backup-simplify]: Simplify 2 into 2
23.763 * [taylor]: Taking taylor expansion of (/ 1 (* phi2 phi1)) in phi2
23.763 * [taylor]: Taking taylor expansion of (* phi2 phi1) in phi2
23.763 * [taylor]: Taking taylor expansion of phi2 in phi2
23.763 * [backup-simplify]: Simplify 0 into 0
23.763 * [backup-simplify]: Simplify 1 into 1
23.763 * [taylor]: Taking taylor expansion of phi1 in phi2
23.763 * [backup-simplify]: Simplify phi1 into phi1
23.763 * [backup-simplify]: Simplify (* 0 phi1) into 0
23.763 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 phi1)) into phi1
23.763 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
23.763 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
23.764 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
23.764 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
23.764 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
23.764 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
23.764 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
23.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.764 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.764 * [backup-simplify]: Simplify -0.5 into -0.5
23.764 * [taylor]: Taking taylor expansion of phi2 in phi2
23.764 * [backup-simplify]: Simplify 0 into 0
23.764 * [backup-simplify]: Simplify 1 into 1
23.764 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.764 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.764 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
23.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.764 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.764 * [backup-simplify]: Simplify -0.5 into -0.5
23.764 * [taylor]: Taking taylor expansion of phi1 in phi2
23.764 * [backup-simplify]: Simplify phi1 into phi1
23.764 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.764 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.765 * [backup-simplify]: Simplify (- 0) into 0
23.765 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.765 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
23.765 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
23.765 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.765 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.765 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.765 * [backup-simplify]: Simplify -0.5 into -0.5
23.765 * [taylor]: Taking taylor expansion of phi2 in phi2
23.765 * [backup-simplify]: Simplify 0 into 0
23.765 * [backup-simplify]: Simplify 1 into 1
23.765 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.766 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.766 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
23.766 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.766 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.766 * [backup-simplify]: Simplify -0.5 into -0.5
23.766 * [taylor]: Taking taylor expansion of phi1 in phi2
23.766 * [backup-simplify]: Simplify phi1 into phi1
23.766 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.766 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.766 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.766 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.766 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
23.766 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
23.766 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.766 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.766 * [backup-simplify]: Simplify -0.5 into -0.5
23.766 * [taylor]: Taking taylor expansion of phi2 in phi2
23.766 * [backup-simplify]: Simplify 0 into 0
23.766 * [backup-simplify]: Simplify 1 into 1
23.766 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.767 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.767 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
23.767 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.767 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.767 * [backup-simplify]: Simplify -0.5 into -0.5
23.767 * [taylor]: Taking taylor expansion of phi2 in phi2
23.767 * [backup-simplify]: Simplify 0 into 0
23.767 * [backup-simplify]: Simplify 1 into 1
23.767 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.767 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
23.767 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.767 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.767 * [backup-simplify]: Simplify -0.5 into -0.5
23.767 * [taylor]: Taking taylor expansion of phi1 in phi2
23.767 * [backup-simplify]: Simplify phi1 into phi1
23.767 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.767 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.767 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.767 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.767 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.767 * [backup-simplify]: Simplify -0.5 into -0.5
23.767 * [taylor]: Taking taylor expansion of phi1 in phi2
23.767 * [backup-simplify]: Simplify phi1 into phi1
23.767 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.768 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.768 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.768 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
23.768 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
23.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.768 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.768 * [backup-simplify]: Simplify -0.5 into -0.5
23.768 * [taylor]: Taking taylor expansion of phi2 in phi2
23.768 * [backup-simplify]: Simplify 0 into 0
23.768 * [backup-simplify]: Simplify 1 into 1
23.768 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.768 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.768 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
23.768 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
23.768 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
23.768 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.768 * [backup-simplify]: Simplify -0.5 into -0.5
23.768 * [taylor]: Taking taylor expansion of phi2 in phi2
23.768 * [backup-simplify]: Simplify 0 into 0
23.768 * [backup-simplify]: Simplify 1 into 1
23.769 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.769 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.769 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
23.769 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
23.769 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.769 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.769 * [backup-simplify]: Simplify -0.5 into -0.5
23.769 * [taylor]: Taking taylor expansion of phi1 in phi2
23.769 * [backup-simplify]: Simplify phi1 into phi1
23.769 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.769 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.769 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.769 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
23.769 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
23.769 * [taylor]: Taking taylor expansion of -0.5 in phi2
23.769 * [backup-simplify]: Simplify -0.5 into -0.5
23.769 * [taylor]: Taking taylor expansion of phi1 in phi2
23.769 * [backup-simplify]: Simplify phi1 into phi1
23.769 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.769 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.769 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.770 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.770 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.770 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.770 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.771 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.771 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.776 * [backup-simplify]: Simplify (- 0) into 0
23.777 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
23.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
23.777 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
23.777 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.777 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.778 * [backup-simplify]: Simplify (- 0) into 0
23.778 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.778 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
23.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
23.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
23.779 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
23.779 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
23.781 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
23.782 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
23.783 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
23.783 * [backup-simplify]: Simplify (+ 0) into 0
23.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.784 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.784 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.785 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.785 * [backup-simplify]: Simplify (- 0) into 0
23.785 * [backup-simplify]: Simplify (+ 0 0) into 0
23.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.786 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.786 * [backup-simplify]: Simplify (+ 0) into 0
23.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.786 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.787 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.787 * [backup-simplify]: Simplify (+ 0 0) into 0
23.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.787 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.788 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.788 * [backup-simplify]: Simplify (+ 0 0) into 0
23.788 * [backup-simplify]: Simplify (+ 0) into 0
23.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.790 * [backup-simplify]: Simplify (- 0) into 0
23.791 * [backup-simplify]: Simplify (+ 0 0) into 0
23.791 * [backup-simplify]: Simplify (+ 0) into 0
23.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.792 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.794 * [backup-simplify]: Simplify (+ 0 0) into 0
23.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
23.795 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
23.795 * [backup-simplify]: Simplify (+ 0) into 0
23.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.796 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.797 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.797 * [backup-simplify]: Simplify (+ 0 0) into 0
23.798 * [backup-simplify]: Simplify (+ 0) into 0
23.798 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.799 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.799 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.800 * [backup-simplify]: Simplify (- 0) into 0
23.801 * [backup-simplify]: Simplify (+ 0 0) into 0
23.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
23.801 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
23.802 * [backup-simplify]: Simplify (+ 0 0) into 0
23.802 * [backup-simplify]: Simplify (- 0) into 0
23.803 * [backup-simplify]: Simplify (+ 0 0) into 0
23.807 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
23.809 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
23.810 * [backup-simplify]: Simplify (+ 1 0) into 1
23.811 * [backup-simplify]: Simplify (+ 0 1) into 1
23.811 * [backup-simplify]: Simplify (+ 0 1) into 1
23.811 * [backup-simplify]: Simplify (+ 1 0) into 1
23.812 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
23.813 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
23.813 * [backup-simplify]: Simplify (+ 0 0) into 0
23.814 * [backup-simplify]: Simplify (+ 0 0) into 0
23.814 * [backup-simplify]: Simplify (+ 0 0) into 0
23.814 * [backup-simplify]: Simplify (* 2 (/ 1 phi1)) into (/ 2 phi1)
23.814 * [backup-simplify]: Simplify (+ 0 (/ 2 phi1)) into (* 2 (/ 1 phi1))
23.814 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1))
23.815 * [backup-simplify]: Simplify (+ 0 (* 2 (/ 1 phi1))) into (* 2 (/ 1 phi1))
23.815 * [backup-simplify]: Simplify (- (* 2 (/ 1 phi1))) into (- (* 2 (/ 1 phi1)))
23.815 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ 1 phi1)))) into (- (* 2 (/ 1 phi1)))
23.818 * [backup-simplify]: Simplify (+ (* 1 0) (* (- (* 2 (/ 1 phi1))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))))
23.820 * [backup-simplify]: Simplify (* 1 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
23.825 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1)))
23.826 * [taylor]: Taking taylor expansion of (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))) in phi1
23.826 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1)) in phi1
23.826 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
23.826 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
23.826 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
23.826 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
23.826 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
23.826 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
23.826 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.826 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.826 * [backup-simplify]: Simplify -0.5 into -0.5
23.826 * [taylor]: Taking taylor expansion of phi2 in phi1
23.826 * [backup-simplify]: Simplify phi2 into phi2
23.826 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.827 * [backup-simplify]: Simplify (- 0) into 0
23.828 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.828 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
23.828 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.828 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.828 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.828 * [backup-simplify]: Simplify -0.5 into -0.5
23.828 * [taylor]: Taking taylor expansion of phi1 in phi1
23.828 * [backup-simplify]: Simplify 0 into 0
23.828 * [backup-simplify]: Simplify 1 into 1
23.828 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.828 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.829 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
23.829 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
23.829 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.829 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.829 * [backup-simplify]: Simplify -0.5 into -0.5
23.829 * [taylor]: Taking taylor expansion of phi2 in phi1
23.829 * [backup-simplify]: Simplify phi2 into phi2
23.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.829 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.829 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.829 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
23.829 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.829 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.829 * [backup-simplify]: Simplify -0.5 into -0.5
23.830 * [taylor]: Taking taylor expansion of phi1 in phi1
23.830 * [backup-simplify]: Simplify 0 into 0
23.830 * [backup-simplify]: Simplify 1 into 1
23.830 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.830 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
23.830 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
23.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.830 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.830 * [backup-simplify]: Simplify -0.5 into -0.5
23.830 * [taylor]: Taking taylor expansion of phi2 in phi1
23.830 * [backup-simplify]: Simplify phi2 into phi2
23.831 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.831 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
23.831 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.831 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.831 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.831 * [backup-simplify]: Simplify -0.5 into -0.5
23.831 * [taylor]: Taking taylor expansion of phi1 in phi1
23.831 * [backup-simplify]: Simplify 0 into 0
23.831 * [backup-simplify]: Simplify 1 into 1
23.831 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.832 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
23.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.832 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.832 * [backup-simplify]: Simplify -0.5 into -0.5
23.832 * [taylor]: Taking taylor expansion of phi2 in phi1
23.832 * [backup-simplify]: Simplify phi2 into phi2
23.832 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.832 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.832 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.832 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.832 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.832 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.832 * [backup-simplify]: Simplify -0.5 into -0.5
23.832 * [taylor]: Taking taylor expansion of phi1 in phi1
23.832 * [backup-simplify]: Simplify 0 into 0
23.832 * [backup-simplify]: Simplify 1 into 1
23.833 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.833 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
23.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.833 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.833 * [backup-simplify]: Simplify -0.5 into -0.5
23.833 * [taylor]: Taking taylor expansion of phi2 in phi1
23.833 * [backup-simplify]: Simplify phi2 into phi2
23.833 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.833 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.833 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.833 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
23.833 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.833 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.833 * [backup-simplify]: Simplify -0.5 into -0.5
23.834 * [taylor]: Taking taylor expansion of phi1 in phi1
23.834 * [backup-simplify]: Simplify 0 into 0
23.834 * [backup-simplify]: Simplify 1 into 1
23.834 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.834 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
23.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.834 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.834 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.834 * [backup-simplify]: Simplify -0.5 into -0.5
23.834 * [taylor]: Taking taylor expansion of phi2 in phi1
23.834 * [backup-simplify]: Simplify phi2 into phi2
23.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.835 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.835 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.835 * [backup-simplify]: Simplify -0.5 into -0.5
23.835 * [taylor]: Taking taylor expansion of phi1 in phi1
23.835 * [backup-simplify]: Simplify 0 into 0
23.835 * [backup-simplify]: Simplify 1 into 1
23.835 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.836 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.836 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.837 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.837 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.838 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.838 * [backup-simplify]: Simplify (- 0) into 0
23.839 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.839 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
23.839 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
23.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
23.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.840 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.840 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.840 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.841 * [backup-simplify]: Simplify (- 0) into 0
23.841 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.841 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
23.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
23.842 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
23.843 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
23.844 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
23.846 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
23.848 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
23.850 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
23.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.851 * [backup-simplify]: Simplify (+ 0) into 0
23.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.851 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.852 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.853 * [backup-simplify]: Simplify (- 0) into 0
23.853 * [backup-simplify]: Simplify (+ 0 0) into 0
23.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.854 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.854 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.854 * [backup-simplify]: Simplify (+ 0) into 0
23.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.855 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.856 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.856 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.857 * [backup-simplify]: Simplify (+ 0 0) into 0
23.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.857 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.858 * [backup-simplify]: Simplify (+ 0 0) into 0
23.858 * [backup-simplify]: Simplify (+ 0) into 0
23.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.859 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.859 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.860 * [backup-simplify]: Simplify (+ 0 0) into 0
23.860 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
23.861 * [backup-simplify]: Simplify (+ 0) into 0
23.861 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.862 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.862 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.863 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.863 * [backup-simplify]: Simplify (- 0) into 0
23.864 * [backup-simplify]: Simplify (+ 0 0) into 0
23.864 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
23.864 * [backup-simplify]: Simplify (+ 0) into 0
23.865 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.865 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.866 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.866 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.866 * [backup-simplify]: Simplify (- 0) into 0
23.867 * [backup-simplify]: Simplify (+ 0 0) into 0
23.867 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.867 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
23.868 * [backup-simplify]: Simplify (+ 0) into 0
23.868 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.868 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.869 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.869 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.869 * [backup-simplify]: Simplify (+ 0 0) into 0
23.870 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
23.870 * [backup-simplify]: Simplify (+ 0 0) into 0
23.870 * [backup-simplify]: Simplify (- 0) into 0
23.870 * [backup-simplify]: Simplify (+ 0 0) into 0
23.873 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
23.874 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
23.874 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
23.874 * [taylor]: Taking taylor expansion of phi1 in phi1
23.874 * [backup-simplify]: Simplify 0 into 0
23.874 * [backup-simplify]: Simplify 1 into 1
23.875 * [backup-simplify]: Simplify (/ 1 1) into 1
23.876 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))
23.877 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))
23.877 * [taylor]: Taking taylor expansion of (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) in lambda1
23.877 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1
23.877 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1
23.877 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1
23.877 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
23.877 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
23.877 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
23.877 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.877 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.877 * [backup-simplify]: Simplify -0.5 into -0.5
23.878 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.878 * [backup-simplify]: Simplify phi2 into phi2
23.878 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.878 * [backup-simplify]: Simplify (- 0) into 0
23.878 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.878 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
23.878 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.878 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.878 * [backup-simplify]: Simplify -0.5 into -0.5
23.878 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.878 * [backup-simplify]: Simplify phi1 into phi1
23.878 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.879 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.879 * [backup-simplify]: Simplify (- 0) into 0
23.879 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.879 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
23.879 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
23.879 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.879 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.879 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.879 * [backup-simplify]: Simplify -0.5 into -0.5
23.879 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.879 * [backup-simplify]: Simplify phi2 into phi2
23.879 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.880 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.880 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
23.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.880 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.880 * [backup-simplify]: Simplify -0.5 into -0.5
23.880 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.880 * [backup-simplify]: Simplify phi1 into phi1
23.880 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.880 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.880 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.880 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.880 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1
23.880 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1
23.880 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.880 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.880 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.880 * [backup-simplify]: Simplify -0.5 into -0.5
23.880 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.880 * [backup-simplify]: Simplify phi2 into phi2
23.881 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.881 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1
23.881 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.881 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.881 * [backup-simplify]: Simplify -0.5 into -0.5
23.881 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.881 * [backup-simplify]: Simplify phi1 into phi1
23.881 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.881 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
23.881 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.881 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.881 * [backup-simplify]: Simplify -0.5 into -0.5
23.881 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.881 * [backup-simplify]: Simplify phi1 into phi1
23.881 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.881 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.881 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.881 * [backup-simplify]: Simplify -0.5 into -0.5
23.881 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.881 * [backup-simplify]: Simplify phi2 into phi2
23.881 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.881 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.881 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.881 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1
23.881 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.881 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.882 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.882 * [backup-simplify]: Simplify -0.5 into -0.5
23.882 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.882 * [backup-simplify]: Simplify phi2 into phi2
23.882 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.882 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.882 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.882 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1
23.882 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.882 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.882 * [backup-simplify]: Simplify -0.5 into -0.5
23.882 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.882 * [backup-simplify]: Simplify phi1 into phi1
23.882 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.882 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.882 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.882 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1
23.882 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.882 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.882 * [backup-simplify]: Simplify -0.5 into -0.5
23.882 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.882 * [backup-simplify]: Simplify phi1 into phi1
23.882 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.882 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.882 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.882 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.882 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.882 * [backup-simplify]: Simplify -0.5 into -0.5
23.882 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.882 * [backup-simplify]: Simplify phi2 into phi2
23.882 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.882 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.883 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.883 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.883 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.883 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.884 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.884 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.884 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.884 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.885 * [backup-simplify]: Simplify (- 0) into 0
23.885 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.885 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.885 * [backup-simplify]: Simplify (- 0) into 0
23.886 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
23.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
23.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
23.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.886 * [backup-simplify]: Simplify (- 0) into 0
23.887 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
23.887 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
23.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.887 * [backup-simplify]: Simplify (- 0) into 0
23.887 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.887 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))
23.888 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
23.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
23.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
23.889 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
23.890 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
23.891 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))
23.893 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
23.894 * [backup-simplify]: Simplify (+ 0) into 0
23.894 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.895 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.895 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.896 * [backup-simplify]: Simplify (- 0) into 0
23.896 * [backup-simplify]: Simplify (+ 0 0) into 0
23.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.897 * [backup-simplify]: Simplify (+ 0) into 0
23.897 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.897 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.898 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.899 * [backup-simplify]: Simplify (- 0) into 0
23.900 * [backup-simplify]: Simplify (+ 0 0) into 0
23.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.901 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.901 * [backup-simplify]: Simplify (+ 0) into 0
23.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.903 * [backup-simplify]: Simplify (+ 0 0) into 0
23.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.904 * [backup-simplify]: Simplify (+ 0) into 0
23.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.905 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.905 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.906 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.906 * [backup-simplify]: Simplify (+ 0 0) into 0
23.907 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.907 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.907 * [backup-simplify]: Simplify (+ 0 0) into 0
23.908 * [backup-simplify]: Simplify (+ 0) into 0
23.908 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.910 * [backup-simplify]: Simplify (- 0) into 0
23.911 * [backup-simplify]: Simplify (+ 0 0) into 0
23.911 * [backup-simplify]: Simplify (+ 0) into 0
23.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.912 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.913 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.913 * [backup-simplify]: Simplify (+ 0 0) into 0
23.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.914 * [backup-simplify]: Simplify (+ 0) into 0
23.915 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.915 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.916 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.916 * [backup-simplify]: Simplify (- 0) into 0
23.917 * [backup-simplify]: Simplify (+ 0 0) into 0
23.917 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0
23.918 * [backup-simplify]: Simplify (+ 0) into 0
23.918 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.918 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.919 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.920 * [backup-simplify]: Simplify (+ 0 0) into 0
23.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
23.921 * [backup-simplify]: Simplify (+ 0) into 0
23.921 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.922 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.923 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.923 * [backup-simplify]: Simplify (+ 0 0) into 0
23.924 * [backup-simplify]: Simplify (+ 0) into 0
23.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.925 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.926 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.926 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.926 * [backup-simplify]: Simplify (- 0) into 0
23.927 * [backup-simplify]: Simplify (+ 0 0) into 0
23.927 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.927 * [backup-simplify]: Simplify (+ 0) into 0
23.928 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
23.928 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
23.935 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.936 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
23.936 * [backup-simplify]: Simplify (+ 0 0) into 0
23.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0
23.937 * [backup-simplify]: Simplify (+ 0) into 0
23.937 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.937 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.938 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.938 * [backup-simplify]: Simplify (- 0) into 0
23.939 * [backup-simplify]: Simplify (+ 0 0) into 0
23.939 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
23.939 * [backup-simplify]: Simplify (+ 0 0) into 0
23.939 * [backup-simplify]: Simplify (- 0) into 0
23.940 * [backup-simplify]: Simplify (+ 0 0) into 0
23.942 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
23.943 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0
23.945 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
23.946 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
23.946 * [taylor]: Taking taylor expansion of (* -1 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1
23.946 * [taylor]: Taking taylor expansion of -1 in phi1
23.946 * [backup-simplify]: Simplify -1 into -1
23.946 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1
23.946 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1
23.946 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
23.946 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
23.946 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
23.946 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.946 * [backup-simplify]: Simplify -0.5 into -0.5
23.947 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
23.947 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
23.947 * [taylor]: Taking taylor expansion of phi1 in phi1
23.947 * [backup-simplify]: Simplify 0 into 0
23.947 * [backup-simplify]: Simplify 1 into 1
23.947 * [backup-simplify]: Simplify (/ 1 1) into 1
23.947 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
23.947 * [taylor]: Taking taylor expansion of phi2 in phi1
23.947 * [backup-simplify]: Simplify phi2 into phi2
23.947 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
23.947 * [backup-simplify]: Simplify (+ 1 0) into 1
23.948 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
23.948 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
23.948 * [taylor]: Taking taylor expansion of lambda1 in phi1
23.948 * [backup-simplify]: Simplify lambda1 into lambda1
23.948 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
23.948 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
23.948 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
23.948 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
23.949 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
23.949 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
23.949 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
23.949 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
23.949 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.949 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.949 * [backup-simplify]: Simplify -0.5 into -0.5
23.949 * [taylor]: Taking taylor expansion of phi2 in phi1
23.949 * [backup-simplify]: Simplify phi2 into phi2
23.949 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.949 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.949 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.949 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.949 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.949 * [backup-simplify]: Simplify (- 0) into 0
23.949 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.949 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
23.949 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.949 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.949 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.949 * [backup-simplify]: Simplify -0.5 into -0.5
23.949 * [taylor]: Taking taylor expansion of phi1 in phi1
23.950 * [backup-simplify]: Simplify 0 into 0
23.950 * [backup-simplify]: Simplify 1 into 1
23.950 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.950 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
23.950 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
23.950 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.950 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.950 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.950 * [backup-simplify]: Simplify -0.5 into -0.5
23.950 * [taylor]: Taking taylor expansion of phi2 in phi1
23.950 * [backup-simplify]: Simplify phi2 into phi2
23.950 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.950 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.950 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.950 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.950 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.950 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.950 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
23.950 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.951 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.951 * [backup-simplify]: Simplify -0.5 into -0.5
23.951 * [taylor]: Taking taylor expansion of phi1 in phi1
23.951 * [backup-simplify]: Simplify 0 into 0
23.951 * [backup-simplify]: Simplify 1 into 1
23.951 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.951 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
23.951 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
23.951 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.951 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.951 * [backup-simplify]: Simplify -0.5 into -0.5
23.951 * [taylor]: Taking taylor expansion of phi2 in phi1
23.951 * [backup-simplify]: Simplify phi2 into phi2
23.951 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.951 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.951 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.951 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
23.951 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.951 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.951 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.951 * [backup-simplify]: Simplify -0.5 into -0.5
23.951 * [taylor]: Taking taylor expansion of phi1 in phi1
23.951 * [backup-simplify]: Simplify 0 into 0
23.951 * [backup-simplify]: Simplify 1 into 1
23.952 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.952 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.952 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
23.952 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.952 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.952 * [backup-simplify]: Simplify -0.5 into -0.5
23.952 * [taylor]: Taking taylor expansion of phi2 in phi1
23.952 * [backup-simplify]: Simplify phi2 into phi2
23.952 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.952 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.952 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.952 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.952 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.952 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.952 * [backup-simplify]: Simplify -0.5 into -0.5
23.952 * [taylor]: Taking taylor expansion of phi1 in phi1
23.952 * [backup-simplify]: Simplify 0 into 0
23.952 * [backup-simplify]: Simplify 1 into 1
23.953 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.953 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
23.953 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
23.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.953 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.953 * [backup-simplify]: Simplify -0.5 into -0.5
23.953 * [taylor]: Taking taylor expansion of phi2 in phi1
23.953 * [backup-simplify]: Simplify phi2 into phi2
23.953 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.953 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.953 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
23.953 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
23.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.953 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.953 * [backup-simplify]: Simplify -0.5 into -0.5
23.953 * [taylor]: Taking taylor expansion of phi1 in phi1
23.953 * [backup-simplify]: Simplify 0 into 0
23.953 * [backup-simplify]: Simplify 1 into 1
23.953 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.953 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.953 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
23.953 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
23.953 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
23.953 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.953 * [backup-simplify]: Simplify -0.5 into -0.5
23.954 * [taylor]: Taking taylor expansion of phi2 in phi1
23.954 * [backup-simplify]: Simplify phi2 into phi2
23.954 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.954 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.954 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
23.954 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
23.954 * [taylor]: Taking taylor expansion of -0.5 in phi1
23.954 * [backup-simplify]: Simplify -0.5 into -0.5
23.954 * [taylor]: Taking taylor expansion of phi1 in phi1
23.954 * [backup-simplify]: Simplify 0 into 0
23.954 * [backup-simplify]: Simplify 1 into 1
23.954 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
23.954 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
23.954 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
23.955 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
23.955 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
23.955 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
23.955 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
23.956 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
23.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.956 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.956 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.956 * [backup-simplify]: Simplify (- 0) into 0
23.956 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
23.956 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
23.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
23.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.957 * [backup-simplify]: Simplify (- 0) into 0
23.957 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.957 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.957 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.957 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
23.958 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
23.958 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
23.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
23.959 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
23.960 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
23.962 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
23.964 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
23.964 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.965 * [backup-simplify]: Simplify (+ 0) into 0
23.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.966 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.966 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.967 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.967 * [backup-simplify]: Simplify (- 0) into 0
23.968 * [backup-simplify]: Simplify (+ 0 0) into 0
23.968 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
23.969 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
23.969 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.969 * [backup-simplify]: Simplify (+ 0) into 0
23.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.970 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.971 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.972 * [backup-simplify]: Simplify (+ 0 0) into 0
23.972 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
23.972 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
23.973 * [backup-simplify]: Simplify (+ 0 0) into 0
23.973 * [backup-simplify]: Simplify (+ 0) into 0
23.974 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.974 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.975 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.975 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.975 * [backup-simplify]: Simplify (- 0) into 0
23.976 * [backup-simplify]: Simplify (+ 0 0) into 0
23.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
23.976 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
23.977 * [backup-simplify]: Simplify (+ 0) into 0
23.977 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.978 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.978 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.979 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.979 * [backup-simplify]: Simplify (+ 0 0) into 0
23.980 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
23.980 * [backup-simplify]: Simplify (+ 0) into 0
23.981 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.981 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.982 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.982 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.982 * [backup-simplify]: Simplify (+ 0 0) into 0
23.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
23.983 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
23.983 * [backup-simplify]: Simplify (+ 0) into 0
23.984 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
23.984 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
23.985 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
23.985 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
23.986 * [backup-simplify]: Simplify (- 0) into 0
23.986 * [backup-simplify]: Simplify (+ 0 0) into 0
23.986 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
23.987 * [backup-simplify]: Simplify (+ 0 0) into 0
23.987 * [backup-simplify]: Simplify (- 0) into 0
23.988 * [backup-simplify]: Simplify (+ 0 0) into 0
23.992 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
23.995 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
23.995 * [taylor]: Taking taylor expansion of 0 in phi1
23.995 * [backup-simplify]: Simplify 0 into 0
23.995 * [taylor]: Taking taylor expansion of (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) in lambda1
23.995 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in lambda1
23.995 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
23.995 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
23.995 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
23.995 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
23.995 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.995 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.995 * [backup-simplify]: Simplify -0.5 into -0.5
23.995 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.995 * [backup-simplify]: Simplify phi2 into phi2
23.995 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.996 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.996 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.996 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
23.996 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
23.996 * [backup-simplify]: Simplify (- 0) into 0
23.997 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
23.997 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
23.997 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
23.997 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.997 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.997 * [backup-simplify]: Simplify -0.5 into -0.5
23.997 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.997 * [backup-simplify]: Simplify phi1 into phi1
23.997 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.997 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.997 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
23.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
23.998 * [backup-simplify]: Simplify (- 0) into 0
23.998 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
23.998 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
23.998 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
23.998 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
23.998 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
23.998 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.998 * [backup-simplify]: Simplify -0.5 into -0.5
23.998 * [taylor]: Taking taylor expansion of phi2 in lambda1
23.998 * [backup-simplify]: Simplify phi2 into phi2
23.998 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
23.998 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
23.998 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
23.998 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
23.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
23.999 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
23.999 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
23.999 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
23.999 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
23.999 * [taylor]: Taking taylor expansion of -0.5 in lambda1
23.999 * [backup-simplify]: Simplify -0.5 into -0.5
23.999 * [taylor]: Taking taylor expansion of phi1 in lambda1
23.999 * [backup-simplify]: Simplify phi1 into phi1
23.999 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
23.999 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
23.999 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
23.999 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
23.999 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.000 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.000 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in lambda1
24.000 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in lambda1
24.000 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
24.000 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
24.000 * [taylor]: Taking taylor expansion of -0.5 in lambda1
24.000 * [backup-simplify]: Simplify -0.5 into -0.5
24.000 * [taylor]: Taking taylor expansion of phi1 in lambda1
24.000 * [backup-simplify]: Simplify phi1 into phi1
24.000 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.000 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.000 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.000 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in lambda1
24.000 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
24.000 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
24.000 * [taylor]: Taking taylor expansion of -0.5 in lambda1
24.000 * [backup-simplify]: Simplify -0.5 into -0.5
24.000 * [taylor]: Taking taylor expansion of phi1 in lambda1
24.000 * [backup-simplify]: Simplify phi1 into phi1
24.000 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.000 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.001 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.001 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in lambda1
24.001 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
24.001 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
24.001 * [taylor]: Taking taylor expansion of -0.5 in lambda1
24.001 * [backup-simplify]: Simplify -0.5 into -0.5
24.001 * [taylor]: Taking taylor expansion of phi2 in lambda1
24.001 * [backup-simplify]: Simplify phi2 into phi2
24.001 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
24.001 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.001 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.001 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
24.001 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
24.001 * [taylor]: Taking taylor expansion of -0.5 in lambda1
24.001 * [backup-simplify]: Simplify -0.5 into -0.5
24.001 * [taylor]: Taking taylor expansion of phi2 in lambda1
24.001 * [backup-simplify]: Simplify phi2 into phi2
24.001 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
24.001 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.001 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.001 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in lambda1
24.002 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
24.002 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
24.002 * [taylor]: Taking taylor expansion of -0.5 in lambda1
24.002 * [backup-simplify]: Simplify -0.5 into -0.5
24.002 * [taylor]: Taking taylor expansion of phi1 in lambda1
24.002 * [backup-simplify]: Simplify phi1 into phi1
24.002 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.002 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.002 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.002 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in lambda1
24.002 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
24.002 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
24.002 * [taylor]: Taking taylor expansion of -0.5 in lambda1
24.002 * [backup-simplify]: Simplify -0.5 into -0.5
24.002 * [taylor]: Taking taylor expansion of phi1 in lambda1
24.002 * [backup-simplify]: Simplify phi1 into phi1
24.002 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.002 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.002 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.002 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in lambda1
24.002 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
24.003 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
24.003 * [taylor]: Taking taylor expansion of -0.5 in lambda1
24.003 * [backup-simplify]: Simplify -0.5 into -0.5
24.003 * [taylor]: Taking taylor expansion of phi2 in lambda1
24.003 * [backup-simplify]: Simplify phi2 into phi2
24.003 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
24.003 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.003 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.003 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
24.003 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
24.003 * [taylor]: Taking taylor expansion of -0.5 in lambda1
24.003 * [backup-simplify]: Simplify -0.5 into -0.5
24.003 * [taylor]: Taking taylor expansion of phi2 in lambda1
24.003 * [backup-simplify]: Simplify phi2 into phi2
24.003 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
24.003 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.003 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.004 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.004 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.004 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.004 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.005 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.005 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.006 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.006 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.006 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.007 * [backup-simplify]: Simplify (- 0) into 0
24.007 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.007 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.007 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
24.007 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
24.008 * [backup-simplify]: Simplify (- 0) into 0
24.008 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
24.008 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
24.008 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
24.008 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
24.008 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))
24.009 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
24.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
24.009 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.009 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.010 * [backup-simplify]: Simplify (- 0) into 0
24.010 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
24.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
24.011 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
24.011 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
24.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
24.011 * [backup-simplify]: Simplify (- 0) into 0
24.011 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
24.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))
24.012 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
24.012 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
24.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))
24.014 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))
24.016 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))
24.017 * [backup-simplify]: Simplify (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))
24.018 * [backup-simplify]: Simplify (+ 0) into 0
24.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.018 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.019 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.019 * [backup-simplify]: Simplify (- 0) into 0
24.020 * [backup-simplify]: Simplify (+ 0 0) into 0
24.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.020 * [backup-simplify]: Simplify (+ 0) into 0
24.020 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.020 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.021 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.021 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.021 * [backup-simplify]: Simplify (- 0) into 0
24.022 * [backup-simplify]: Simplify (+ 0 0) into 0
24.022 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.022 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.022 * [backup-simplify]: Simplify (+ 0) into 0
24.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.023 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.023 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.023 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.024 * [backup-simplify]: Simplify (+ 0 0) into 0
24.024 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.024 * [backup-simplify]: Simplify (+ 0) into 0
24.024 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.025 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.025 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.025 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.026 * [backup-simplify]: Simplify (+ 0 0) into 0
24.026 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.026 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.026 * [backup-simplify]: Simplify (+ 0 0) into 0
24.026 * [backup-simplify]: Simplify (+ 0) into 0
24.027 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.027 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.027 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.028 * [backup-simplify]: Simplify (+ 0 0) into 0
24.028 * [backup-simplify]: Simplify (+ 0) into 0
24.028 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.029 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.029 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.029 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.029 * [backup-simplify]: Simplify (- 0) into 0
24.030 * [backup-simplify]: Simplify (+ 0 0) into 0
24.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.030 * [backup-simplify]: Simplify (+ 0) into 0
24.030 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.031 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.031 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.032 * [backup-simplify]: Simplify (+ 0 0) into 0
24.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0
24.032 * [backup-simplify]: Simplify (+ 0) into 0
24.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.032 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.033 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.033 * [backup-simplify]: Simplify (- 0) into 0
24.034 * [backup-simplify]: Simplify (+ 0 0) into 0
24.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
24.034 * [backup-simplify]: Simplify (+ 0) into 0
24.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.035 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.035 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.036 * [backup-simplify]: Simplify (- 0) into 0
24.036 * [backup-simplify]: Simplify (+ 0 0) into 0
24.036 * [backup-simplify]: Simplify (+ 0) into 0
24.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.036 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.037 * [backup-simplify]: Simplify (+ 0 0) into 0
24.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.038 * [backup-simplify]: Simplify (+ 0) into 0
24.038 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.039 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.039 * [backup-simplify]: Simplify (- 0) into 0
24.040 * [backup-simplify]: Simplify (+ 0 0) into 0
24.040 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0
24.040 * [backup-simplify]: Simplify (+ 0) into 0
24.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.041 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.042 * [backup-simplify]: Simplify (+ 0 0) into 0
24.042 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
24.042 * [backup-simplify]: Simplify (+ 0 0) into 0
24.042 * [backup-simplify]: Simplify (- 0) into 0
24.043 * [backup-simplify]: Simplify (+ 0 0) into 0
24.044 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into 0
24.044 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi2)) into 0
24.044 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi2 2)) (/ 0 (pow phi2 2))))) into 0
24.044 * [backup-simplify]: Simplify (+ (* phi1 0) (* 0 phi1)) into 0
24.045 * [backup-simplify]: Simplify (- (+ (* (/ 1 (pow phi1 2)) (/ 0 (pow phi1 2))))) into 0
24.045 * [backup-simplify]: Simplify (+ 0) into 0
24.045 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.046 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.046 * [backup-simplify]: Simplify (+ 0 0) into 0
24.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.047 * [backup-simplify]: Simplify (+ 0) into 0
24.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.047 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.048 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.049 * [backup-simplify]: Simplify (+ 0 0) into 0
24.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.050 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.050 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
24.051 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
24.052 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.055 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.056 * [backup-simplify]: Simplify (- 0) into 0
24.057 * [backup-simplify]: Simplify (+ 0 0) into 0
24.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0
24.059 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.060 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.061 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.063 * [backup-simplify]: Simplify (- 0) into 0
24.063 * [backup-simplify]: Simplify (+ 0 0) into 0
24.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2)))))) into 0
24.065 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))))) into 0
24.067 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.069 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
24.069 * [backup-simplify]: Simplify (+ 0) into 0
24.070 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.070 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.071 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.071 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.072 * [backup-simplify]: Simplify (- 0) into 0
24.072 * [backup-simplify]: Simplify (+ 0 0) into 0
24.072 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.073 * [backup-simplify]: Simplify (+ 0) into 0
24.073 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.074 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.074 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.075 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.075 * [backup-simplify]: Simplify (- 0) into 0
24.076 * [backup-simplify]: Simplify (+ 0 0) into 0
24.076 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.076 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.077 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
24.078 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
24.086 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.088 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.090 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.091 * [backup-simplify]: Simplify (+ 0 0) into 0
24.092 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
24.093 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.094 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.096 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.097 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.098 * [backup-simplify]: Simplify (+ 0 0) into 0
24.099 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2)))))) into 0
24.100 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))))) into 0
24.101 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.104 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
24.105 * [backup-simplify]: Simplify (+ 0 0) into 0
24.105 * [backup-simplify]: Simplify (+ 0 0) into 0
24.105 * [backup-simplify]: Simplify (+ 0 0) into 0
24.106 * [backup-simplify]: Simplify (+ 0 0) into 0
24.106 * [backup-simplify]: Simplify (+ 0 0) into 0
24.107 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.108 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.109 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.110 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.111 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.111 * [backup-simplify]: Simplify (- 0) into 0
24.112 * [backup-simplify]: Simplify (+ 0 0) into 0
24.112 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.113 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.114 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.115 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.116 * [backup-simplify]: Simplify (+ 0 0) into 0
24.117 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1)))))) into 0
24.118 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.119 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.121 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.122 * [backup-simplify]: Simplify (+ 0 0) into 0
24.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0
24.124 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.125 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.126 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.127 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.127 * [backup-simplify]: Simplify (- 0) into 0
24.128 * [backup-simplify]: Simplify (+ 0 0) into 0
24.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into 0
24.130 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.132 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
24.132 * [backup-simplify]: Simplify (+ 0) into 0
24.133 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.133 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.134 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.134 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.135 * [backup-simplify]: Simplify (+ 0 0) into 0
24.135 * [backup-simplify]: Simplify (+ 0) into 0
24.135 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.136 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.136 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.137 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.137 * [backup-simplify]: Simplify (- 0) into 0
24.137 * [backup-simplify]: Simplify (+ 0 0) into 0
24.137 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.138 * [backup-simplify]: Simplify (+ 0) into 0
24.138 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.138 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.139 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.140 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.140 * [backup-simplify]: Simplify (- 0) into 0
24.140 * [backup-simplify]: Simplify (+ 0 0) into 0
24.140 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.141 * [backup-simplify]: Simplify (+ 0) into 0
24.141 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.141 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.142 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.143 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.143 * [backup-simplify]: Simplify (+ 0 0) into 0
24.143 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.143 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
24.144 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
24.144 * [backup-simplify]: Simplify (+ (* phi2 0) (* 0 phi1)) into 0
24.145 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* phi2 phi1)) (/ 0 (* phi2 phi1))))) into 0
24.145 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 (* phi2 phi1)))) into 0
24.145 * [backup-simplify]: Simplify (+ 0) into 0
24.146 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.146 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.147 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.147 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.148 * [backup-simplify]: Simplify (- 0) into 0
24.148 * [backup-simplify]: Simplify (+ 0 0) into 0
24.148 * [backup-simplify]: Simplify (+ 0) into 0
24.149 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.149 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.150 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.150 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.150 * [backup-simplify]: Simplify (+ 0 0) into 0
24.151 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.151 * [backup-simplify]: Simplify (+ 0) into 0
24.152 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.152 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.153 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.153 * [backup-simplify]: Simplify (+ 0 0) into 0
24.154 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.154 * [backup-simplify]: Simplify (+ 0) into 0
24.155 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
24.155 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
24.156 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.156 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
24.157 * [backup-simplify]: Simplify (- 0) into 0
24.157 * [backup-simplify]: Simplify (+ 0 0) into 0
24.157 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.158 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
24.158 * [backup-simplify]: Simplify (- (/ 0 (pow lambda1 2)) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) (/ 0 (pow lambda1 2))))) into 0
24.160 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.161 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.161 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.163 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.163 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.165 * [backup-simplify]: Simplify (+ 0 0) into 0
24.166 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.167 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.167 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.169 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.170 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.171 * [backup-simplify]: Simplify (- 0) into 0
24.171 * [backup-simplify]: Simplify (+ 0 0) into 0
24.172 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1)))))) into 0
24.173 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.174 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.175 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.176 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.177 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.177 * [backup-simplify]: Simplify (- 0) into 0
24.178 * [backup-simplify]: Simplify (+ 0 0) into 0
24.179 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
24.180 * [backup-simplify]: Simplify (+ 0 (* -1 (/ (pow 0 1) 1) (/ (pow 0 1) 1)) 0) into 0
24.181 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.181 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.183 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 3) 6)) 0 (* 1 (/ (pow 0 1) 1))) into 0
24.183 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 0)))) into 0
24.184 * [backup-simplify]: Simplify (+ 0 0) into 0
24.185 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into 0
24.186 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (+ (* 0 0) (* 0 1)))) into 0
24.188 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)) (* 0 (/ 0 1)))) into 0
24.189 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
24.190 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 1))) into 0
24.190 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
24.190 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
24.191 * [backup-simplify]: Simplify (+ 0 0) into 0
24.192 * [backup-simplify]: Simplify (+ (* -0.5 0) (+ (* 0 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2))))) into 0
24.193 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
24.193 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 0))) into 0
24.194 * [backup-simplify]: Simplify (- 0) into 0
24.194 * [backup-simplify]: Simplify (+ 0 0) into 0
24.195 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
24.196 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (+ (* 0 0) (* 0 lambda1)))) into 0
24.197 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)) (* 0 (/ 0 lambda1)))) into 0
24.198 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0
24.198 * [backup-simplify]: Simplify (+ 0 0) into 0
24.199 * [backup-simplify]: Simplify (+ 0 0) into 0
24.199 * [backup-simplify]: Simplify (+ 0 0) into 0
24.199 * [backup-simplify]: Simplify (+ 0 0) into 0
24.200 * [backup-simplify]: Simplify (+ 0 0) into 0
24.200 * [backup-simplify]: Simplify (- 0) into 0
24.200 * [backup-simplify]: Simplify (+ 0 0) into 0
24.223 * [backup-simplify]: Simplify (/ (- 0 (+ (* 2 (* (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) (* 1/2 (* (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ 1 (pow phi2 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (* 2 (/ 1 (* phi2 phi1))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))))))) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (* 1/2 (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3)))))) (+ (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
24.223 * [taylor]: Taking taylor expansion of (* 1/2 (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3)))))) (+ (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) in phi2
24.224 * [taylor]: Taking taylor expansion of 1/2 in phi2
24.224 * [backup-simplify]: Simplify 1/2 into 1/2
24.224 * [taylor]: Taking taylor expansion of (* (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3)))))) (+ (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
24.224 * [taylor]: Taking taylor expansion of (- (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3)))))) (+ (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))))) in phi2
24.225 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3)))))) in phi2
24.225 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))) in phi2
24.225 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
24.225 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
24.225 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
24.225 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
24.225 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.225 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.225 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.225 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.225 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.225 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.225 * [backup-simplify]: Simplify -0.5 into -0.5
24.226 * [taylor]: Taking taylor expansion of phi2 in phi2
24.226 * [backup-simplify]: Simplify 0 into 0
24.226 * [backup-simplify]: Simplify 1 into 1
24.226 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.226 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.226 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.226 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.226 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.227 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.227 * [backup-simplify]: Simplify -0.5 into -0.5
24.227 * [taylor]: Taking taylor expansion of phi1 in phi2
24.227 * [backup-simplify]: Simplify phi1 into phi1
24.227 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.227 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.227 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.227 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.227 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.228 * [backup-simplify]: Simplify (- 0) into 0
24.228 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.228 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.228 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.228 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.228 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.228 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.228 * [backup-simplify]: Simplify -0.5 into -0.5
24.228 * [taylor]: Taking taylor expansion of phi2 in phi2
24.228 * [backup-simplify]: Simplify 0 into 0
24.228 * [backup-simplify]: Simplify 1 into 1
24.229 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.229 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.229 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.229 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.229 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.229 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.229 * [backup-simplify]: Simplify -0.5 into -0.5
24.229 * [taylor]: Taking taylor expansion of phi1 in phi2
24.229 * [backup-simplify]: Simplify phi1 into phi1
24.229 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.229 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.229 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.229 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.229 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.229 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.230 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
24.230 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.230 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.230 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.230 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.230 * [backup-simplify]: Simplify -0.5 into -0.5
24.230 * [taylor]: Taking taylor expansion of phi2 in phi2
24.230 * [backup-simplify]: Simplify 0 into 0
24.230 * [backup-simplify]: Simplify 1 into 1
24.230 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.230 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.230 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.231 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.231 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.231 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.231 * [backup-simplify]: Simplify -0.5 into -0.5
24.231 * [taylor]: Taking taylor expansion of phi2 in phi2
24.231 * [backup-simplify]: Simplify 0 into 0
24.231 * [backup-simplify]: Simplify 1 into 1
24.231 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.231 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.231 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.231 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.231 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.231 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.232 * [backup-simplify]: Simplify -0.5 into -0.5
24.232 * [taylor]: Taking taylor expansion of phi1 in phi2
24.232 * [backup-simplify]: Simplify phi1 into phi1
24.232 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.232 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.232 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.232 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.232 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.232 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.232 * [backup-simplify]: Simplify -0.5 into -0.5
24.232 * [taylor]: Taking taylor expansion of phi1 in phi2
24.232 * [backup-simplify]: Simplify phi1 into phi1
24.232 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.232 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.232 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.232 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.232 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.232 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.232 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.233 * [backup-simplify]: Simplify -0.5 into -0.5
24.233 * [taylor]: Taking taylor expansion of phi2 in phi2
24.233 * [backup-simplify]: Simplify 0 into 0
24.233 * [backup-simplify]: Simplify 1 into 1
24.233 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.233 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.233 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.233 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.233 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.233 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.233 * [backup-simplify]: Simplify -0.5 into -0.5
24.233 * [taylor]: Taking taylor expansion of phi2 in phi2
24.233 * [backup-simplify]: Simplify 0 into 0
24.233 * [backup-simplify]: Simplify 1 into 1
24.234 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.234 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.234 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.234 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.234 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.234 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.234 * [backup-simplify]: Simplify -0.5 into -0.5
24.234 * [taylor]: Taking taylor expansion of phi1 in phi2
24.234 * [backup-simplify]: Simplify phi1 into phi1
24.234 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.234 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.235 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.235 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.235 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.235 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.235 * [backup-simplify]: Simplify -0.5 into -0.5
24.235 * [taylor]: Taking taylor expansion of phi1 in phi2
24.235 * [backup-simplify]: Simplify phi1 into phi1
24.235 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.235 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.235 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.235 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
24.235 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.235 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.235 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.235 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.235 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.235 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.235 * [backup-simplify]: Simplify -0.5 into -0.5
24.235 * [taylor]: Taking taylor expansion of phi2 in phi2
24.235 * [backup-simplify]: Simplify 0 into 0
24.236 * [backup-simplify]: Simplify 1 into 1
24.236 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.236 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.236 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.236 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.236 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.236 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.236 * [backup-simplify]: Simplify -0.5 into -0.5
24.236 * [taylor]: Taking taylor expansion of phi1 in phi2
24.236 * [backup-simplify]: Simplify phi1 into phi1
24.237 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.237 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.237 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.237 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.237 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.237 * [backup-simplify]: Simplify (- 0) into 0
24.238 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.238 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.238 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.238 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.238 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.238 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.238 * [backup-simplify]: Simplify -0.5 into -0.5
24.238 * [taylor]: Taking taylor expansion of phi2 in phi2
24.238 * [backup-simplify]: Simplify 0 into 0
24.238 * [backup-simplify]: Simplify 1 into 1
24.238 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.238 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.238 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.238 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.239 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.239 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.239 * [backup-simplify]: Simplify -0.5 into -0.5
24.239 * [taylor]: Taking taylor expansion of phi1 in phi2
24.239 * [backup-simplify]: Simplify phi1 into phi1
24.239 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.239 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.239 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.239 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.239 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.239 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.239 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
24.239 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.239 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.239 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.240 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.240 * [backup-simplify]: Simplify -0.5 into -0.5
24.240 * [taylor]: Taking taylor expansion of phi2 in phi2
24.240 * [backup-simplify]: Simplify 0 into 0
24.240 * [backup-simplify]: Simplify 1 into 1
24.240 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.240 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.240 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.240 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.240 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.240 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.240 * [backup-simplify]: Simplify -0.5 into -0.5
24.240 * [taylor]: Taking taylor expansion of phi2 in phi2
24.241 * [backup-simplify]: Simplify 0 into 0
24.241 * [backup-simplify]: Simplify 1 into 1
24.241 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.241 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.241 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.241 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.241 * [backup-simplify]: Simplify -0.5 into -0.5
24.241 * [taylor]: Taking taylor expansion of phi1 in phi2
24.241 * [backup-simplify]: Simplify phi1 into phi1
24.242 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.242 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.242 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.242 * [backup-simplify]: Simplify -0.5 into -0.5
24.242 * [taylor]: Taking taylor expansion of phi1 in phi2
24.242 * [backup-simplify]: Simplify phi1 into phi1
24.242 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.242 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.242 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.242 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.242 * [backup-simplify]: Simplify -0.5 into -0.5
24.242 * [taylor]: Taking taylor expansion of phi2 in phi2
24.242 * [backup-simplify]: Simplify 0 into 0
24.242 * [backup-simplify]: Simplify 1 into 1
24.243 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.243 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.243 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.243 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.243 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.243 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.243 * [backup-simplify]: Simplify -0.5 into -0.5
24.243 * [taylor]: Taking taylor expansion of phi2 in phi2
24.243 * [backup-simplify]: Simplify 0 into 0
24.243 * [backup-simplify]: Simplify 1 into 1
24.244 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.244 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.244 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.244 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.244 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.244 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.244 * [backup-simplify]: Simplify -0.5 into -0.5
24.244 * [taylor]: Taking taylor expansion of phi1 in phi2
24.244 * [backup-simplify]: Simplify phi1 into phi1
24.244 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.244 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.244 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.245 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.245 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.245 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.245 * [backup-simplify]: Simplify -0.5 into -0.5
24.245 * [taylor]: Taking taylor expansion of phi1 in phi2
24.245 * [backup-simplify]: Simplify phi1 into phi1
24.245 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.245 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.245 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.245 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.246 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.246 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.246 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.247 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.247 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.248 * [backup-simplify]: Simplify (- 0) into 0
24.248 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.248 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.249 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.249 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.249 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.249 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.249 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.250 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.250 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.250 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.250 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.250 * [backup-simplify]: Simplify (- 0) into 0
24.251 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.251 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.251 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.251 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.252 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.253 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.254 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.254 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.255 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.255 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.256 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.263 * [backup-simplify]: Simplify (- 0) into 0
24.264 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.265 * [backup-simplify]: Simplify (- 0) into 0
24.265 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.265 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.266 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.266 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.266 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.267 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.267 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.268 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.270 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
24.273 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
24.275 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
24.275 * [backup-simplify]: Simplify (+ 0) into 0
24.276 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.276 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.277 * [backup-simplify]: Simplify (- 0) into 0
24.277 * [backup-simplify]: Simplify (+ 0 0) into 0
24.277 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.278 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.278 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.278 * [backup-simplify]: Simplify (+ 0) into 0
24.278 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.279 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.279 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.279 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.280 * [backup-simplify]: Simplify (+ 0 0) into 0
24.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.280 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.280 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.281 * [backup-simplify]: Simplify (+ 0 0) into 0
24.281 * [backup-simplify]: Simplify (+ 0) into 0
24.281 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.282 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.282 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.283 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.283 * [backup-simplify]: Simplify (- 0) into 0
24.284 * [backup-simplify]: Simplify (+ 0 0) into 0
24.284 * [backup-simplify]: Simplify (+ 0) into 0
24.285 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.285 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.286 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.286 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.286 * [backup-simplify]: Simplify (+ 0 0) into 0
24.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.287 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.287 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.288 * [backup-simplify]: Simplify (+ 0) into 0
24.288 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.288 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.289 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.290 * [backup-simplify]: Simplify (+ 0 0) into 0
24.290 * [backup-simplify]: Simplify (+ 0) into 0
24.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.291 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.293 * [backup-simplify]: Simplify (- 0) into 0
24.293 * [backup-simplify]: Simplify (+ 0 0) into 0
24.293 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.294 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.294 * [backup-simplify]: Simplify (+ 0 0) into 0
24.295 * [backup-simplify]: Simplify (- 0) into 0
24.295 * [backup-simplify]: Simplify (+ 0 0) into 0
24.296 * [backup-simplify]: Simplify (+ 0) into 0
24.296 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.296 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.297 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.297 * [backup-simplify]: Simplify (- 0) into 0
24.298 * [backup-simplify]: Simplify (+ 0 0) into 0
24.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.298 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.298 * [backup-simplify]: Simplify (+ 0) into 0
24.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.299 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.300 * [backup-simplify]: Simplify (+ 0 0) into 0
24.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.300 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.300 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.301 * [backup-simplify]: Simplify (+ 0 0) into 0
24.301 * [backup-simplify]: Simplify (+ 0) into 0
24.301 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.301 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.302 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.302 * [backup-simplify]: Simplify (+ 0 0) into 0
24.303 * [backup-simplify]: Simplify (+ 0) into 0
24.303 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.303 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.304 * [backup-simplify]: Simplify (- 0) into 0
24.304 * [backup-simplify]: Simplify (+ 0 0) into 0
24.304 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.305 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.305 * [backup-simplify]: Simplify (+ 0) into 0
24.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.305 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.306 * [backup-simplify]: Simplify (- 0) into 0
24.307 * [backup-simplify]: Simplify (+ 0 0) into 0
24.307 * [backup-simplify]: Simplify (+ 0) into 0
24.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.307 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.308 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.308 * [backup-simplify]: Simplify (+ 0 0) into 0
24.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.309 * [backup-simplify]: Simplify (+ 0 0) into 0
24.309 * [backup-simplify]: Simplify (- 0) into 0
24.310 * [backup-simplify]: Simplify (+ 0 0) into 0
24.312 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
24.317 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.319 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.319 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2))) in phi2
24.319 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
24.319 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
24.319 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
24.319 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.319 * [backup-simplify]: Simplify -0.5 into -0.5
24.319 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
24.319 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
24.319 * [taylor]: Taking taylor expansion of phi1 in phi2
24.319 * [backup-simplify]: Simplify phi1 into phi1
24.319 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
24.319 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
24.319 * [taylor]: Taking taylor expansion of phi2 in phi2
24.319 * [backup-simplify]: Simplify 0 into 0
24.319 * [backup-simplify]: Simplify 1 into 1
24.320 * [backup-simplify]: Simplify (/ 1 1) into 1
24.320 * [backup-simplify]: Simplify (+ 0 1) into 1
24.321 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
24.321 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
24.321 * [taylor]: Taking taylor expansion of (* lambda1 (pow phi1 2)) in phi2
24.321 * [taylor]: Taking taylor expansion of lambda1 in phi2
24.321 * [backup-simplify]: Simplify lambda1 into lambda1
24.321 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi2
24.321 * [taylor]: Taking taylor expansion of phi1 in phi2
24.321 * [backup-simplify]: Simplify phi1 into phi1
24.321 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
24.321 * [backup-simplify]: Simplify (* phi1 phi1) into (pow phi1 2)
24.321 * [backup-simplify]: Simplify (* lambda1 (pow phi1 2)) into (* lambda1 (pow phi1 2))
24.321 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 (pow phi1 2)))
24.321 * [taylor]: Taking taylor expansion of (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3))))) in phi2
24.322 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2
24.322 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow phi2 2) lambda1)) in phi2
24.322 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
24.322 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
24.322 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
24.322 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.322 * [backup-simplify]: Simplify -0.5 into -0.5
24.322 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
24.322 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
24.322 * [taylor]: Taking taylor expansion of phi1 in phi2
24.322 * [backup-simplify]: Simplify phi1 into phi1
24.322 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
24.322 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
24.322 * [taylor]: Taking taylor expansion of phi2 in phi2
24.322 * [backup-simplify]: Simplify 0 into 0
24.322 * [backup-simplify]: Simplify 1 into 1
24.322 * [backup-simplify]: Simplify (/ 1 1) into 1
24.323 * [backup-simplify]: Simplify (+ 0 1) into 1
24.323 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
24.323 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
24.323 * [taylor]: Taking taylor expansion of (* (pow phi2 2) lambda1) in phi2
24.323 * [taylor]: Taking taylor expansion of (pow phi2 2) in phi2
24.323 * [taylor]: Taking taylor expansion of phi2 in phi2
24.323 * [backup-simplify]: Simplify 0 into 0
24.323 * [backup-simplify]: Simplify 1 into 1
24.323 * [taylor]: Taking taylor expansion of lambda1 in phi2
24.323 * [backup-simplify]: Simplify lambda1 into lambda1
24.323 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
24.324 * [backup-simplify]: Simplify (* 1 1) into 1
24.324 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
24.324 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
24.324 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2
24.324 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2
24.324 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
24.324 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
24.324 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.324 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.324 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.324 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.324 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.324 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.324 * [backup-simplify]: Simplify -0.5 into -0.5
24.324 * [taylor]: Taking taylor expansion of phi2 in phi2
24.324 * [backup-simplify]: Simplify 0 into 0
24.324 * [backup-simplify]: Simplify 1 into 1
24.325 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.325 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.325 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.325 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.325 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.325 * [backup-simplify]: Simplify -0.5 into -0.5
24.325 * [taylor]: Taking taylor expansion of phi1 in phi2
24.325 * [backup-simplify]: Simplify phi1 into phi1
24.325 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.325 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.325 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.325 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.326 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.326 * [backup-simplify]: Simplify (- 0) into 0
24.326 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.326 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.326 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.326 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.326 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.326 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.326 * [backup-simplify]: Simplify -0.5 into -0.5
24.326 * [taylor]: Taking taylor expansion of phi2 in phi2
24.326 * [backup-simplify]: Simplify 0 into 0
24.326 * [backup-simplify]: Simplify 1 into 1
24.327 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.327 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.327 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.327 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.327 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.327 * [backup-simplify]: Simplify -0.5 into -0.5
24.327 * [taylor]: Taking taylor expansion of phi1 in phi2
24.327 * [backup-simplify]: Simplify phi1 into phi1
24.327 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.327 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.327 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.327 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.328 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.328 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.328 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
24.328 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.328 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.328 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.328 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.328 * [backup-simplify]: Simplify -0.5 into -0.5
24.328 * [taylor]: Taking taylor expansion of phi2 in phi2
24.328 * [backup-simplify]: Simplify 0 into 0
24.328 * [backup-simplify]: Simplify 1 into 1
24.329 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.329 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.329 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.329 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.329 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.329 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.329 * [backup-simplify]: Simplify -0.5 into -0.5
24.329 * [taylor]: Taking taylor expansion of phi2 in phi2
24.329 * [backup-simplify]: Simplify 0 into 0
24.329 * [backup-simplify]: Simplify 1 into 1
24.329 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.329 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.330 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.330 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.330 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.330 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.330 * [backup-simplify]: Simplify -0.5 into -0.5
24.330 * [taylor]: Taking taylor expansion of phi1 in phi2
24.330 * [backup-simplify]: Simplify phi1 into phi1
24.330 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.330 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.330 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.330 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.330 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.330 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.330 * [backup-simplify]: Simplify -0.5 into -0.5
24.330 * [taylor]: Taking taylor expansion of phi1 in phi2
24.330 * [backup-simplify]: Simplify phi1 into phi1
24.330 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.330 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.330 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.330 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.330 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.330 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.331 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.331 * [backup-simplify]: Simplify -0.5 into -0.5
24.331 * [taylor]: Taking taylor expansion of phi2 in phi2
24.331 * [backup-simplify]: Simplify 0 into 0
24.331 * [backup-simplify]: Simplify 1 into 1
24.331 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.331 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.331 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.331 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.331 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.331 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.331 * [backup-simplify]: Simplify -0.5 into -0.5
24.331 * [taylor]: Taking taylor expansion of phi2 in phi2
24.331 * [backup-simplify]: Simplify 0 into 0
24.331 * [backup-simplify]: Simplify 1 into 1
24.332 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.332 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.332 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.332 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.332 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.332 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.332 * [backup-simplify]: Simplify -0.5 into -0.5
24.332 * [taylor]: Taking taylor expansion of phi1 in phi2
24.332 * [backup-simplify]: Simplify phi1 into phi1
24.332 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.332 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.332 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.332 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.333 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.333 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.333 * [backup-simplify]: Simplify -0.5 into -0.5
24.333 * [taylor]: Taking taylor expansion of phi1 in phi2
24.333 * [backup-simplify]: Simplify phi1 into phi1
24.333 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.333 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.333 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.333 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
24.333 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.333 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.333 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.333 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.333 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.333 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.333 * [backup-simplify]: Simplify -0.5 into -0.5
24.333 * [taylor]: Taking taylor expansion of phi2 in phi2
24.333 * [backup-simplify]: Simplify 0 into 0
24.333 * [backup-simplify]: Simplify 1 into 1
24.334 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.334 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.334 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.334 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.334 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.334 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.334 * [backup-simplify]: Simplify -0.5 into -0.5
24.334 * [taylor]: Taking taylor expansion of phi1 in phi2
24.334 * [backup-simplify]: Simplify phi1 into phi1
24.334 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.334 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.334 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.334 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.335 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.335 * [backup-simplify]: Simplify (- 0) into 0
24.335 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.335 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.335 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.335 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.335 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.335 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.335 * [backup-simplify]: Simplify -0.5 into -0.5
24.335 * [taylor]: Taking taylor expansion of phi2 in phi2
24.335 * [backup-simplify]: Simplify 0 into 0
24.335 * [backup-simplify]: Simplify 1 into 1
24.336 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.336 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.336 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.336 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.336 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.336 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.336 * [backup-simplify]: Simplify -0.5 into -0.5
24.336 * [taylor]: Taking taylor expansion of phi1 in phi2
24.336 * [backup-simplify]: Simplify phi1 into phi1
24.336 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.336 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.337 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.337 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.337 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.337 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.337 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
24.337 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.337 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.337 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.337 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.337 * [backup-simplify]: Simplify -0.5 into -0.5
24.337 * [taylor]: Taking taylor expansion of phi2 in phi2
24.337 * [backup-simplify]: Simplify 0 into 0
24.337 * [backup-simplify]: Simplify 1 into 1
24.338 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.338 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.338 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.338 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.338 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.338 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.338 * [backup-simplify]: Simplify -0.5 into -0.5
24.338 * [taylor]: Taking taylor expansion of phi2 in phi2
24.338 * [backup-simplify]: Simplify 0 into 0
24.338 * [backup-simplify]: Simplify 1 into 1
24.338 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.339 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.339 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.339 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.339 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.339 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.339 * [backup-simplify]: Simplify -0.5 into -0.5
24.339 * [taylor]: Taking taylor expansion of phi1 in phi2
24.339 * [backup-simplify]: Simplify phi1 into phi1
24.339 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.339 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.339 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.339 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.339 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.339 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.339 * [backup-simplify]: Simplify -0.5 into -0.5
24.339 * [taylor]: Taking taylor expansion of phi1 in phi2
24.339 * [backup-simplify]: Simplify phi1 into phi1
24.339 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.339 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.339 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.339 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.340 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.340 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.340 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.340 * [backup-simplify]: Simplify -0.5 into -0.5
24.340 * [taylor]: Taking taylor expansion of phi2 in phi2
24.340 * [backup-simplify]: Simplify 0 into 0
24.340 * [backup-simplify]: Simplify 1 into 1
24.340 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.340 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.340 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.340 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.340 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.340 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.340 * [backup-simplify]: Simplify -0.5 into -0.5
24.340 * [taylor]: Taking taylor expansion of phi2 in phi2
24.340 * [backup-simplify]: Simplify 0 into 0
24.341 * [backup-simplify]: Simplify 1 into 1
24.341 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.341 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.341 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.341 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.341 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.341 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.341 * [backup-simplify]: Simplify -0.5 into -0.5
24.341 * [taylor]: Taking taylor expansion of phi1 in phi2
24.341 * [backup-simplify]: Simplify phi1 into phi1
24.341 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.341 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.342 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.342 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.342 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.342 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.342 * [backup-simplify]: Simplify -0.5 into -0.5
24.342 * [taylor]: Taking taylor expansion of phi1 in phi2
24.342 * [backup-simplify]: Simplify phi1 into phi1
24.342 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.342 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.342 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.342 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.342 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.343 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.343 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.343 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.344 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.344 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.345 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.345 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.345 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.345 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.345 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.345 * [backup-simplify]: Simplify (- 0) into 0
24.346 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.346 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.346 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.346 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.347 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.347 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.347 * [backup-simplify]: Simplify (- 0) into 0
24.347 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.347 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.347 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.348 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.348 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.348 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.349 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.350 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.352 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.353 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.353 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.353 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.354 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.354 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.355 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.355 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.355 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.356 * [backup-simplify]: Simplify (- 0) into 0
24.356 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.356 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.356 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.356 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.357 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.357 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.357 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.357 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.357 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.357 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.357 * [backup-simplify]: Simplify (- 0) into 0
24.357 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.357 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.358 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.358 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.358 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.359 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.360 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.362 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
24.364 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
24.367 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
24.367 * [backup-simplify]: Simplify (+ 0) into 0
24.367 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.368 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.368 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.368 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.369 * [backup-simplify]: Simplify (- 0) into 0
24.369 * [backup-simplify]: Simplify (+ 0 0) into 0
24.369 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.369 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.369 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.370 * [backup-simplify]: Simplify (+ 0) into 0
24.370 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.370 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.371 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.371 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.371 * [backup-simplify]: Simplify (+ 0 0) into 0
24.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.371 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.372 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.372 * [backup-simplify]: Simplify (+ 0 0) into 0
24.372 * [backup-simplify]: Simplify (+ 0) into 0
24.373 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.373 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.373 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.374 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.374 * [backup-simplify]: Simplify (+ 0 0) into 0
24.374 * [backup-simplify]: Simplify (+ 0) into 0
24.374 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.375 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.375 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.375 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.376 * [backup-simplify]: Simplify (- 0) into 0
24.376 * [backup-simplify]: Simplify (+ 0 0) into 0
24.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.376 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.376 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.377 * [backup-simplify]: Simplify (+ 0) into 0
24.377 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.377 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.377 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.378 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.378 * [backup-simplify]: Simplify (- 0) into 0
24.378 * [backup-simplify]: Simplify (+ 0 0) into 0
24.378 * [backup-simplify]: Simplify (+ 0) into 0
24.379 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.379 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.379 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.380 * [backup-simplify]: Simplify (+ 0 0) into 0
24.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.380 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.380 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.381 * [backup-simplify]: Simplify (+ 0 0) into 0
24.381 * [backup-simplify]: Simplify (- 0) into 0
24.381 * [backup-simplify]: Simplify (+ 0 0) into 0
24.381 * [backup-simplify]: Simplify (+ 0) into 0
24.382 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.382 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.382 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.383 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.383 * [backup-simplify]: Simplify (- 0) into 0
24.383 * [backup-simplify]: Simplify (+ 0 0) into 0
24.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.383 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.384 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.384 * [backup-simplify]: Simplify (+ 0) into 0
24.384 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.384 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.385 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.386 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.386 * [backup-simplify]: Simplify (+ 0 0) into 0
24.386 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.387 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.387 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.387 * [backup-simplify]: Simplify (+ 0 0) into 0
24.388 * [backup-simplify]: Simplify (+ 0) into 0
24.389 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.390 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.391 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.398 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.399 * [backup-simplify]: Simplify (- 0) into 0
24.399 * [backup-simplify]: Simplify (+ 0 0) into 0
24.400 * [backup-simplify]: Simplify (+ 0) into 0
24.400 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.402 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.403 * [backup-simplify]: Simplify (+ 0 0) into 0
24.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.404 * [backup-simplify]: Simplify (+ 0) into 0
24.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.405 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.406 * [backup-simplify]: Simplify (+ 0 0) into 0
24.407 * [backup-simplify]: Simplify (+ 0) into 0
24.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.407 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.408 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.409 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.409 * [backup-simplify]: Simplify (- 0) into 0
24.410 * [backup-simplify]: Simplify (+ 0 0) into 0
24.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.411 * [backup-simplify]: Simplify (+ 0 0) into 0
24.411 * [backup-simplify]: Simplify (- 0) into 0
24.412 * [backup-simplify]: Simplify (+ 0 0) into 0
24.416 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
24.426 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.431 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.431 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))) (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3)))) in phi2
24.432 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))) in phi2
24.432 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
24.432 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
24.432 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
24.432 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
24.432 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.432 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.432 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.432 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.432 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.432 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.432 * [backup-simplify]: Simplify -0.5 into -0.5
24.432 * [taylor]: Taking taylor expansion of phi2 in phi2
24.432 * [backup-simplify]: Simplify 0 into 0
24.432 * [backup-simplify]: Simplify 1 into 1
24.434 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.434 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.434 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.434 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.434 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.434 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.434 * [backup-simplify]: Simplify -0.5 into -0.5
24.434 * [taylor]: Taking taylor expansion of phi1 in phi2
24.434 * [backup-simplify]: Simplify phi1 into phi1
24.434 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.434 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.435 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.435 * [backup-simplify]: Simplify (- 0) into 0
24.435 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.435 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.436 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.436 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.436 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.436 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.436 * [backup-simplify]: Simplify -0.5 into -0.5
24.436 * [taylor]: Taking taylor expansion of phi2 in phi2
24.436 * [backup-simplify]: Simplify 0 into 0
24.436 * [backup-simplify]: Simplify 1 into 1
24.436 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.437 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.437 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.437 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.437 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.437 * [backup-simplify]: Simplify -0.5 into -0.5
24.437 * [taylor]: Taking taylor expansion of phi1 in phi2
24.437 * [backup-simplify]: Simplify phi1 into phi1
24.437 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.437 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.437 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.438 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.438 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
24.438 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.438 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.438 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.438 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.438 * [backup-simplify]: Simplify -0.5 into -0.5
24.438 * [taylor]: Taking taylor expansion of phi2 in phi2
24.438 * [backup-simplify]: Simplify 0 into 0
24.438 * [backup-simplify]: Simplify 1 into 1
24.438 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.439 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.439 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.439 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.439 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.439 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.439 * [backup-simplify]: Simplify -0.5 into -0.5
24.439 * [taylor]: Taking taylor expansion of phi2 in phi2
24.439 * [backup-simplify]: Simplify 0 into 0
24.439 * [backup-simplify]: Simplify 1 into 1
24.439 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.439 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.439 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.439 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.440 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.440 * [backup-simplify]: Simplify -0.5 into -0.5
24.440 * [taylor]: Taking taylor expansion of phi1 in phi2
24.440 * [backup-simplify]: Simplify phi1 into phi1
24.440 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.440 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.440 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.440 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.440 * [backup-simplify]: Simplify -0.5 into -0.5
24.440 * [taylor]: Taking taylor expansion of phi1 in phi2
24.440 * [backup-simplify]: Simplify phi1 into phi1
24.440 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.440 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.440 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.440 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.440 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.441 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.441 * [backup-simplify]: Simplify -0.5 into -0.5
24.441 * [taylor]: Taking taylor expansion of phi2 in phi2
24.441 * [backup-simplify]: Simplify 0 into 0
24.441 * [backup-simplify]: Simplify 1 into 1
24.441 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.441 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.441 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.441 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.441 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.441 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.441 * [backup-simplify]: Simplify -0.5 into -0.5
24.441 * [taylor]: Taking taylor expansion of phi2 in phi2
24.442 * [backup-simplify]: Simplify 0 into 0
24.442 * [backup-simplify]: Simplify 1 into 1
24.442 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.442 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.442 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.442 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.442 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.442 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.442 * [backup-simplify]: Simplify -0.5 into -0.5
24.442 * [taylor]: Taking taylor expansion of phi1 in phi2
24.442 * [backup-simplify]: Simplify phi1 into phi1
24.442 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.443 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.443 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.443 * [backup-simplify]: Simplify -0.5 into -0.5
24.443 * [taylor]: Taking taylor expansion of phi1 in phi2
24.443 * [backup-simplify]: Simplify phi1 into phi1
24.443 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.443 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.443 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.443 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
24.443 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.443 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.443 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.443 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.443 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.443 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.443 * [backup-simplify]: Simplify -0.5 into -0.5
24.444 * [taylor]: Taking taylor expansion of phi2 in phi2
24.444 * [backup-simplify]: Simplify 0 into 0
24.444 * [backup-simplify]: Simplify 1 into 1
24.444 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.444 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.444 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.444 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.444 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.444 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.444 * [backup-simplify]: Simplify -0.5 into -0.5
24.444 * [taylor]: Taking taylor expansion of phi1 in phi2
24.444 * [backup-simplify]: Simplify phi1 into phi1
24.444 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.445 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.445 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.445 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.445 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.445 * [backup-simplify]: Simplify (- 0) into 0
24.445 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.446 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.446 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.446 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.446 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.446 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.446 * [backup-simplify]: Simplify -0.5 into -0.5
24.446 * [taylor]: Taking taylor expansion of phi2 in phi2
24.446 * [backup-simplify]: Simplify 0 into 0
24.446 * [backup-simplify]: Simplify 1 into 1
24.446 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.446 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.446 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.446 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.446 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.447 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.447 * [backup-simplify]: Simplify -0.5 into -0.5
24.447 * [taylor]: Taking taylor expansion of phi1 in phi2
24.447 * [backup-simplify]: Simplify phi1 into phi1
24.447 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.447 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.447 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.447 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.447 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.447 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.447 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
24.447 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.447 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.447 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.447 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.447 * [backup-simplify]: Simplify -0.5 into -0.5
24.447 * [taylor]: Taking taylor expansion of phi2 in phi2
24.448 * [backup-simplify]: Simplify 0 into 0
24.448 * [backup-simplify]: Simplify 1 into 1
24.448 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.448 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.448 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.448 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.448 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.448 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.448 * [backup-simplify]: Simplify -0.5 into -0.5
24.448 * [taylor]: Taking taylor expansion of phi2 in phi2
24.448 * [backup-simplify]: Simplify 0 into 0
24.448 * [backup-simplify]: Simplify 1 into 1
24.449 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.449 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.449 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.449 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.449 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.449 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.449 * [backup-simplify]: Simplify -0.5 into -0.5
24.449 * [taylor]: Taking taylor expansion of phi1 in phi2
24.449 * [backup-simplify]: Simplify phi1 into phi1
24.449 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.449 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.450 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.450 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.450 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.450 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.450 * [backup-simplify]: Simplify -0.5 into -0.5
24.450 * [taylor]: Taking taylor expansion of phi1 in phi2
24.450 * [backup-simplify]: Simplify phi1 into phi1
24.450 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.450 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.450 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.450 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.450 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.450 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.450 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.450 * [backup-simplify]: Simplify -0.5 into -0.5
24.450 * [taylor]: Taking taylor expansion of phi2 in phi2
24.450 * [backup-simplify]: Simplify 0 into 0
24.450 * [backup-simplify]: Simplify 1 into 1
24.451 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.451 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.451 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.451 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.451 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.451 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.451 * [backup-simplify]: Simplify -0.5 into -0.5
24.451 * [taylor]: Taking taylor expansion of phi2 in phi2
24.451 * [backup-simplify]: Simplify 0 into 0
24.451 * [backup-simplify]: Simplify 1 into 1
24.452 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.452 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.452 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.452 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.452 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.452 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.452 * [backup-simplify]: Simplify -0.5 into -0.5
24.452 * [taylor]: Taking taylor expansion of phi1 in phi2
24.452 * [backup-simplify]: Simplify phi1 into phi1
24.452 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.452 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.452 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.452 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.452 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.452 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.452 * [backup-simplify]: Simplify -0.5 into -0.5
24.452 * [taylor]: Taking taylor expansion of phi1 in phi2
24.452 * [backup-simplify]: Simplify phi1 into phi1
24.453 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.453 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.453 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.453 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.454 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.454 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.454 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.454 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.455 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.455 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.455 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.456 * [backup-simplify]: Simplify (- 0) into 0
24.456 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.456 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.456 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.457 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.457 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.457 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.457 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.457 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.458 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.458 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.458 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.458 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.458 * [backup-simplify]: Simplify (- 0) into 0
24.459 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.459 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.459 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.459 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.461 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.462 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.462 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.462 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.462 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.463 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.463 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.463 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.463 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.463 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.463 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.464 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.464 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.464 * [backup-simplify]: Simplify (- 0) into 0
24.464 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.464 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.465 * [backup-simplify]: Simplify (- 0) into 0
24.465 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.465 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.465 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.465 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.466 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.467 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.468 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.470 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
24.472 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
24.474 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
24.475 * [backup-simplify]: Simplify (+ 0) into 0
24.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.475 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.476 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.477 * [backup-simplify]: Simplify (- 0) into 0
24.477 * [backup-simplify]: Simplify (+ 0 0) into 0
24.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.477 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.478 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.478 * [backup-simplify]: Simplify (+ 0) into 0
24.479 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.479 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.480 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.480 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.481 * [backup-simplify]: Simplify (+ 0 0) into 0
24.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.482 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.482 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.483 * [backup-simplify]: Simplify (+ 0 0) into 0
24.483 * [backup-simplify]: Simplify (+ 0) into 0
24.484 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.484 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.485 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.485 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.486 * [backup-simplify]: Simplify (- 0) into 0
24.486 * [backup-simplify]: Simplify (+ 0 0) into 0
24.486 * [backup-simplify]: Simplify (+ 0) into 0
24.487 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.487 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.488 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.489 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.489 * [backup-simplify]: Simplify (+ 0 0) into 0
24.489 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.489 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.490 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.490 * [backup-simplify]: Simplify (+ 0) into 0
24.491 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.491 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.492 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.492 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.492 * [backup-simplify]: Simplify (+ 0 0) into 0
24.493 * [backup-simplify]: Simplify (+ 0) into 0
24.493 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.493 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.494 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.495 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.495 * [backup-simplify]: Simplify (- 0) into 0
24.495 * [backup-simplify]: Simplify (+ 0 0) into 0
24.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.496 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.497 * [backup-simplify]: Simplify (+ 0 0) into 0
24.497 * [backup-simplify]: Simplify (- 0) into 0
24.497 * [backup-simplify]: Simplify (+ 0 0) into 0
24.498 * [backup-simplify]: Simplify (+ 0) into 0
24.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.499 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.499 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.500 * [backup-simplify]: Simplify (- 0) into 0
24.501 * [backup-simplify]: Simplify (+ 0 0) into 0
24.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.501 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.502 * [backup-simplify]: Simplify (+ 0) into 0
24.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.503 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.503 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.504 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.504 * [backup-simplify]: Simplify (+ 0 0) into 0
24.504 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.505 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.505 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.506 * [backup-simplify]: Simplify (+ 0 0) into 0
24.506 * [backup-simplify]: Simplify (+ 0) into 0
24.506 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.507 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.507 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.508 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.508 * [backup-simplify]: Simplify (+ 0 0) into 0
24.509 * [backup-simplify]: Simplify (+ 0) into 0
24.509 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.509 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.510 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.510 * [backup-simplify]: Simplify (- 0) into 0
24.510 * [backup-simplify]: Simplify (+ 0 0) into 0
24.510 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.511 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.511 * [backup-simplify]: Simplify (+ 0) into 0
24.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.512 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.512 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.513 * [backup-simplify]: Simplify (- 0) into 0
24.513 * [backup-simplify]: Simplify (+ 0 0) into 0
24.513 * [backup-simplify]: Simplify (+ 0) into 0
24.513 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.513 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.514 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.514 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.514 * [backup-simplify]: Simplify (+ 0 0) into 0
24.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.515 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.515 * [backup-simplify]: Simplify (+ 0 0) into 0
24.515 * [backup-simplify]: Simplify (- 0) into 0
24.516 * [backup-simplify]: Simplify (+ 0 0) into 0
24.518 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
24.523 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.525 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.525 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3)) in phi2
24.525 * [taylor]: Taking taylor expansion of (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) in phi2
24.525 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
24.525 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
24.525 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
24.525 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.525 * [backup-simplify]: Simplify -0.5 into -0.5
24.525 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
24.525 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
24.525 * [taylor]: Taking taylor expansion of phi1 in phi2
24.525 * [backup-simplify]: Simplify phi1 into phi1
24.525 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
24.525 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
24.525 * [taylor]: Taking taylor expansion of phi2 in phi2
24.525 * [backup-simplify]: Simplify 0 into 0
24.525 * [backup-simplify]: Simplify 1 into 1
24.526 * [backup-simplify]: Simplify (/ 1 1) into 1
24.526 * [backup-simplify]: Simplify (+ 0 1) into 1
24.526 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
24.527 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
24.527 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) in phi2
24.527 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.527 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.527 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.527 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.527 * [backup-simplify]: Simplify -0.5 into -0.5
24.527 * [taylor]: Taking taylor expansion of phi1 in phi2
24.527 * [backup-simplify]: Simplify phi1 into phi1
24.527 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.527 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.527 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.527 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.527 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.527 * [backup-simplify]: Simplify (- 0) into 0
24.527 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.527 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.527 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.528 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.528 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.528 * [backup-simplify]: Simplify -0.5 into -0.5
24.528 * [taylor]: Taking taylor expansion of phi2 in phi2
24.528 * [backup-simplify]: Simplify 0 into 0
24.528 * [backup-simplify]: Simplify 1 into 1
24.528 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.528 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.528 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
24.528 * [taylor]: Taking taylor expansion of lambda1 in phi2
24.528 * [backup-simplify]: Simplify lambda1 into lambda1
24.528 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
24.528 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.528 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.529 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))
24.529 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))) into (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (/ -0.5 phi1)) 2)))
24.529 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
24.529 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
24.530 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (/ -0.5 phi1)) 2))) (pow lambda1 3)) into (/ (* (pow (cos (/ -0.5 phi1)) 2) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (/ -0.5 phi2)) 2))) (pow lambda1 3))
24.530 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3))) in phi2
24.530 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
24.530 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
24.530 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
24.530 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
24.530 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.530 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.530 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.530 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.530 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.530 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.530 * [backup-simplify]: Simplify -0.5 into -0.5
24.530 * [taylor]: Taking taylor expansion of phi2 in phi2
24.530 * [backup-simplify]: Simplify 0 into 0
24.530 * [backup-simplify]: Simplify 1 into 1
24.530 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.531 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.531 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.531 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.531 * [backup-simplify]: Simplify -0.5 into -0.5
24.531 * [taylor]: Taking taylor expansion of phi1 in phi2
24.531 * [backup-simplify]: Simplify phi1 into phi1
24.531 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.531 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.531 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.531 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.531 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.531 * [backup-simplify]: Simplify (- 0) into 0
24.531 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.531 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.531 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.531 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.531 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.531 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.531 * [backup-simplify]: Simplify -0.5 into -0.5
24.531 * [taylor]: Taking taylor expansion of phi2 in phi2
24.531 * [backup-simplify]: Simplify 0 into 0
24.531 * [backup-simplify]: Simplify 1 into 1
24.532 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.532 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.532 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.532 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.532 * [backup-simplify]: Simplify -0.5 into -0.5
24.532 * [taylor]: Taking taylor expansion of phi1 in phi2
24.532 * [backup-simplify]: Simplify phi1 into phi1
24.532 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.532 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.532 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.532 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.532 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.532 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.532 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
24.532 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.532 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.532 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.532 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.532 * [backup-simplify]: Simplify -0.5 into -0.5
24.532 * [taylor]: Taking taylor expansion of phi2 in phi2
24.533 * [backup-simplify]: Simplify 0 into 0
24.533 * [backup-simplify]: Simplify 1 into 1
24.533 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.533 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.533 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.533 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.533 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.533 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.533 * [backup-simplify]: Simplify -0.5 into -0.5
24.533 * [taylor]: Taking taylor expansion of phi2 in phi2
24.533 * [backup-simplify]: Simplify 0 into 0
24.533 * [backup-simplify]: Simplify 1 into 1
24.534 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.534 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.534 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.534 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.534 * [backup-simplify]: Simplify -0.5 into -0.5
24.534 * [taylor]: Taking taylor expansion of phi1 in phi2
24.534 * [backup-simplify]: Simplify phi1 into phi1
24.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.534 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.534 * [backup-simplify]: Simplify -0.5 into -0.5
24.534 * [taylor]: Taking taylor expansion of phi1 in phi2
24.534 * [backup-simplify]: Simplify phi1 into phi1
24.534 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.534 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.534 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.534 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.534 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.534 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.534 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.534 * [backup-simplify]: Simplify -0.5 into -0.5
24.534 * [taylor]: Taking taylor expansion of phi2 in phi2
24.534 * [backup-simplify]: Simplify 0 into 0
24.534 * [backup-simplify]: Simplify 1 into 1
24.535 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.535 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.535 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.535 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.535 * [backup-simplify]: Simplify -0.5 into -0.5
24.535 * [taylor]: Taking taylor expansion of phi2 in phi2
24.535 * [backup-simplify]: Simplify 0 into 0
24.535 * [backup-simplify]: Simplify 1 into 1
24.535 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.535 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.535 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.535 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.535 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.535 * [backup-simplify]: Simplify -0.5 into -0.5
24.535 * [taylor]: Taking taylor expansion of phi1 in phi2
24.535 * [backup-simplify]: Simplify phi1 into phi1
24.535 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.535 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.535 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.535 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.536 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.536 * [backup-simplify]: Simplify -0.5 into -0.5
24.536 * [taylor]: Taking taylor expansion of phi1 in phi2
24.536 * [backup-simplify]: Simplify phi1 into phi1
24.536 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.536 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.536 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
24.536 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.536 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.536 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.536 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.536 * [backup-simplify]: Simplify -0.5 into -0.5
24.536 * [taylor]: Taking taylor expansion of phi2 in phi2
24.536 * [backup-simplify]: Simplify 0 into 0
24.536 * [backup-simplify]: Simplify 1 into 1
24.536 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.536 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.536 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.536 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.536 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.536 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.536 * [backup-simplify]: Simplify -0.5 into -0.5
24.536 * [taylor]: Taking taylor expansion of phi1 in phi2
24.536 * [backup-simplify]: Simplify phi1 into phi1
24.537 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.537 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.537 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.537 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.537 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.537 * [backup-simplify]: Simplify (- 0) into 0
24.537 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.537 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.537 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.537 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.537 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.537 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.537 * [backup-simplify]: Simplify -0.5 into -0.5
24.537 * [taylor]: Taking taylor expansion of phi2 in phi2
24.537 * [backup-simplify]: Simplify 0 into 0
24.537 * [backup-simplify]: Simplify 1 into 1
24.538 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.538 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.538 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.538 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.538 * [backup-simplify]: Simplify -0.5 into -0.5
24.538 * [taylor]: Taking taylor expansion of phi1 in phi2
24.538 * [backup-simplify]: Simplify phi1 into phi1
24.538 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.538 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.538 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.538 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.538 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.538 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.538 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
24.538 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.538 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.538 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.538 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.538 * [backup-simplify]: Simplify -0.5 into -0.5
24.538 * [taylor]: Taking taylor expansion of phi2 in phi2
24.538 * [backup-simplify]: Simplify 0 into 0
24.538 * [backup-simplify]: Simplify 1 into 1
24.539 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.539 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.539 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.539 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.539 * [backup-simplify]: Simplify -0.5 into -0.5
24.539 * [taylor]: Taking taylor expansion of phi2 in phi2
24.539 * [backup-simplify]: Simplify 0 into 0
24.539 * [backup-simplify]: Simplify 1 into 1
24.539 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.539 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.539 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.539 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.539 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.539 * [backup-simplify]: Simplify -0.5 into -0.5
24.539 * [taylor]: Taking taylor expansion of phi1 in phi2
24.539 * [backup-simplify]: Simplify phi1 into phi1
24.539 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.539 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.539 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.539 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.539 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.539 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.540 * [backup-simplify]: Simplify -0.5 into -0.5
24.540 * [taylor]: Taking taylor expansion of phi1 in phi2
24.540 * [backup-simplify]: Simplify phi1 into phi1
24.540 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.540 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.540 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.540 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.540 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.540 * [backup-simplify]: Simplify -0.5 into -0.5
24.540 * [taylor]: Taking taylor expansion of phi2 in phi2
24.540 * [backup-simplify]: Simplify 0 into 0
24.540 * [backup-simplify]: Simplify 1 into 1
24.540 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.540 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.540 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.540 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.540 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.540 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.540 * [backup-simplify]: Simplify -0.5 into -0.5
24.540 * [taylor]: Taking taylor expansion of phi2 in phi2
24.540 * [backup-simplify]: Simplify 0 into 0
24.540 * [backup-simplify]: Simplify 1 into 1
24.541 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.541 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.541 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.541 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.541 * [backup-simplify]: Simplify -0.5 into -0.5
24.541 * [taylor]: Taking taylor expansion of phi1 in phi2
24.541 * [backup-simplify]: Simplify phi1 into phi1
24.541 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.541 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.541 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.541 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.541 * [backup-simplify]: Simplify -0.5 into -0.5
24.541 * [taylor]: Taking taylor expansion of phi1 in phi2
24.541 * [backup-simplify]: Simplify phi1 into phi1
24.541 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.541 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.541 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.541 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.542 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.542 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.542 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.542 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.543 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.543 * [backup-simplify]: Simplify (- 0) into 0
24.543 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.543 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.543 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.544 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.544 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.544 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.544 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.545 * [backup-simplify]: Simplify (- 0) into 0
24.545 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.545 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.545 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.546 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.546 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.548 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.548 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.548 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.548 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.549 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.549 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.549 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.549 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.549 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.550 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.555 * [backup-simplify]: Simplify (- 0) into 0
24.555 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.555 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.555 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.556 * [backup-simplify]: Simplify (- 0) into 0
24.556 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.556 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.556 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.556 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.557 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.557 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.558 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.559 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.561 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
24.563 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
24.566 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
24.566 * [backup-simplify]: Simplify (+ 0) into 0
24.567 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.567 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.567 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.568 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.568 * [backup-simplify]: Simplify (- 0) into 0
24.568 * [backup-simplify]: Simplify (+ 0 0) into 0
24.568 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.569 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.569 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.569 * [backup-simplify]: Simplify (+ 0) into 0
24.570 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.570 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.570 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.571 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.571 * [backup-simplify]: Simplify (+ 0 0) into 0
24.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.571 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.571 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.572 * [backup-simplify]: Simplify (+ 0 0) into 0
24.572 * [backup-simplify]: Simplify (+ 0) into 0
24.572 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.572 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.573 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.573 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.573 * [backup-simplify]: Simplify (- 0) into 0
24.574 * [backup-simplify]: Simplify (+ 0 0) into 0
24.574 * [backup-simplify]: Simplify (+ 0) into 0
24.574 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.574 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.575 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.575 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.575 * [backup-simplify]: Simplify (+ 0 0) into 0
24.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.576 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.576 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.576 * [backup-simplify]: Simplify (+ 0) into 0
24.577 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.577 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.577 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.577 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.578 * [backup-simplify]: Simplify (+ 0 0) into 0
24.578 * [backup-simplify]: Simplify (+ 0) into 0
24.578 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.579 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.579 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.579 * [backup-simplify]: Simplify (- 0) into 0
24.580 * [backup-simplify]: Simplify (+ 0 0) into 0
24.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.580 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.580 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.580 * [backup-simplify]: Simplify (+ 0 0) into 0
24.581 * [backup-simplify]: Simplify (- 0) into 0
24.581 * [backup-simplify]: Simplify (+ 0 0) into 0
24.582 * [backup-simplify]: Simplify (+ 0) into 0
24.582 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.582 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.584 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.584 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.585 * [backup-simplify]: Simplify (- 0) into 0
24.585 * [backup-simplify]: Simplify (+ 0 0) into 0
24.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.586 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.586 * [backup-simplify]: Simplify (+ 0) into 0
24.587 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.587 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.588 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.589 * [backup-simplify]: Simplify (+ 0 0) into 0
24.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.589 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.590 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.590 * [backup-simplify]: Simplify (+ 0 0) into 0
24.591 * [backup-simplify]: Simplify (+ 0) into 0
24.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.592 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.593 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.594 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.594 * [backup-simplify]: Simplify (+ 0 0) into 0
24.595 * [backup-simplify]: Simplify (+ 0) into 0
24.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.596 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.598 * [backup-simplify]: Simplify (- 0) into 0
24.598 * [backup-simplify]: Simplify (+ 0 0) into 0
24.598 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.599 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.600 * [backup-simplify]: Simplify (+ 0) into 0
24.600 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.601 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.602 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.602 * [backup-simplify]: Simplify (- 0) into 0
24.603 * [backup-simplify]: Simplify (+ 0 0) into 0
24.603 * [backup-simplify]: Simplify (+ 0) into 0
24.604 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.604 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.605 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.605 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.606 * [backup-simplify]: Simplify (+ 0 0) into 0
24.606 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.606 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.607 * [backup-simplify]: Simplify (+ 0 0) into 0
24.607 * [backup-simplify]: Simplify (- 0) into 0
24.607 * [backup-simplify]: Simplify (+ 0 0) into 0
24.611 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
24.619 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.623 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.623 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3)) in phi2
24.623 * [taylor]: Taking taylor expansion of (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) in phi2
24.623 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
24.623 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
24.623 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
24.623 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.623 * [backup-simplify]: Simplify -0.5 into -0.5
24.623 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
24.623 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
24.623 * [taylor]: Taking taylor expansion of phi1 in phi2
24.623 * [backup-simplify]: Simplify phi1 into phi1
24.623 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
24.623 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
24.623 * [taylor]: Taking taylor expansion of phi2 in phi2
24.624 * [backup-simplify]: Simplify 0 into 0
24.624 * [backup-simplify]: Simplify 1 into 1
24.624 * [backup-simplify]: Simplify (/ 1 1) into 1
24.625 * [backup-simplify]: Simplify (+ 0 1) into 1
24.625 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
24.625 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
24.625 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in phi2
24.625 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.625 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.625 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.625 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.625 * [backup-simplify]: Simplify -0.5 into -0.5
24.625 * [taylor]: Taking taylor expansion of phi1 in phi2
24.625 * [backup-simplify]: Simplify phi1 into phi1
24.625 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.626 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.626 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.626 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.626 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.626 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.626 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.626 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.626 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.626 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.626 * [backup-simplify]: Simplify -0.5 into -0.5
24.626 * [taylor]: Taking taylor expansion of phi2 in phi2
24.626 * [backup-simplify]: Simplify 0 into 0
24.626 * [backup-simplify]: Simplify 1 into 1
24.627 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.627 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.627 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
24.627 * [taylor]: Taking taylor expansion of lambda1 in phi2
24.627 * [backup-simplify]: Simplify lambda1 into lambda1
24.627 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
24.627 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.627 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.628 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))
24.628 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.628 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
24.629 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
24.629 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (sin (/ -0.5 phi1)) 2))) (pow lambda1 3)) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (sin (/ -0.5 phi2)) 2))) (pow lambda1 3))
24.629 * [taylor]: Taking taylor expansion of (+ (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) (+ (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))))) in phi2
24.630 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2
24.630 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) (pow lambda1 3)) in phi2
24.630 * [taylor]: Taking taylor expansion of (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2
24.630 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
24.630 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
24.630 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
24.630 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.630 * [backup-simplify]: Simplify -0.5 into -0.5
24.630 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
24.630 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
24.630 * [taylor]: Taking taylor expansion of phi1 in phi2
24.630 * [backup-simplify]: Simplify phi1 into phi1
24.630 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
24.630 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
24.630 * [taylor]: Taking taylor expansion of phi2 in phi2
24.630 * [backup-simplify]: Simplify 0 into 0
24.630 * [backup-simplify]: Simplify 1 into 1
24.631 * [backup-simplify]: Simplify (/ 1 1) into 1
24.631 * [backup-simplify]: Simplify (+ 0 1) into 1
24.631 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
24.632 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
24.632 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2
24.632 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.632 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.632 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.632 * [backup-simplify]: Simplify -0.5 into -0.5
24.632 * [taylor]: Taking taylor expansion of phi1 in phi2
24.632 * [backup-simplify]: Simplify phi1 into phi1
24.632 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.632 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.632 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.632 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2
24.632 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.632 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.632 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.632 * [backup-simplify]: Simplify -0.5 into -0.5
24.632 * [taylor]: Taking taylor expansion of phi2 in phi2
24.632 * [backup-simplify]: Simplify 0 into 0
24.632 * [backup-simplify]: Simplify 1 into 1
24.633 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.633 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.633 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
24.633 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.633 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.633 * [backup-simplify]: Simplify -0.5 into -0.5
24.633 * [taylor]: Taking taylor expansion of phi2 in phi2
24.633 * [backup-simplify]: Simplify 0 into 0
24.633 * [backup-simplify]: Simplify 1 into 1
24.633 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.633 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.633 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.633 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.633 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.633 * [backup-simplify]: Simplify -0.5 into -0.5
24.633 * [taylor]: Taking taylor expansion of phi1 in phi2
24.633 * [backup-simplify]: Simplify phi1 into phi1
24.633 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.634 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.634 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.634 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
24.634 * [taylor]: Taking taylor expansion of lambda1 in phi2
24.634 * [backup-simplify]: Simplify lambda1 into lambda1
24.634 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
24.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.634 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.634 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.634 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.635 * [backup-simplify]: Simplify (- 0) into 0
24.635 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.635 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
24.635 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
24.636 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
24.636 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))
24.636 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
24.636 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
24.637 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (pow lambda1 3)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) (pow lambda1 3))
24.637 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2
24.637 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2
24.637 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
24.637 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
24.637 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.638 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.638 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.638 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.638 * [backup-simplify]: Simplify -0.5 into -0.5
24.638 * [taylor]: Taking taylor expansion of phi2 in phi2
24.638 * [backup-simplify]: Simplify 0 into 0
24.638 * [backup-simplify]: Simplify 1 into 1
24.638 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.638 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.638 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.638 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.638 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.638 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.639 * [backup-simplify]: Simplify -0.5 into -0.5
24.639 * [taylor]: Taking taylor expansion of phi1 in phi2
24.639 * [backup-simplify]: Simplify phi1 into phi1
24.639 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.639 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.639 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.639 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.639 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.639 * [backup-simplify]: Simplify (- 0) into 0
24.639 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.639 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.640 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.640 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.640 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.640 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.640 * [backup-simplify]: Simplify -0.5 into -0.5
24.640 * [taylor]: Taking taylor expansion of phi2 in phi2
24.640 * [backup-simplify]: Simplify 0 into 0
24.640 * [backup-simplify]: Simplify 1 into 1
24.640 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.640 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.640 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.640 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.640 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.640 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.640 * [backup-simplify]: Simplify -0.5 into -0.5
24.640 * [taylor]: Taking taylor expansion of phi1 in phi2
24.640 * [backup-simplify]: Simplify phi1 into phi1
24.640 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.641 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.641 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.641 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.641 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.641 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.641 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
24.641 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.641 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.641 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.641 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.641 * [backup-simplify]: Simplify -0.5 into -0.5
24.641 * [taylor]: Taking taylor expansion of phi2 in phi2
24.641 * [backup-simplify]: Simplify 0 into 0
24.641 * [backup-simplify]: Simplify 1 into 1
24.642 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.642 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.642 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.642 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.642 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.642 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.642 * [backup-simplify]: Simplify -0.5 into -0.5
24.642 * [taylor]: Taking taylor expansion of phi2 in phi2
24.642 * [backup-simplify]: Simplify 0 into 0
24.642 * [backup-simplify]: Simplify 1 into 1
24.642 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.642 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.642 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.643 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.643 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.643 * [backup-simplify]: Simplify -0.5 into -0.5
24.643 * [taylor]: Taking taylor expansion of phi1 in phi2
24.643 * [backup-simplify]: Simplify phi1 into phi1
24.643 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.643 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.643 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.643 * [backup-simplify]: Simplify -0.5 into -0.5
24.643 * [taylor]: Taking taylor expansion of phi1 in phi2
24.643 * [backup-simplify]: Simplify phi1 into phi1
24.643 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.643 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.643 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.643 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.643 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.643 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.643 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.643 * [backup-simplify]: Simplify -0.5 into -0.5
24.643 * [taylor]: Taking taylor expansion of phi2 in phi2
24.643 * [backup-simplify]: Simplify 0 into 0
24.643 * [backup-simplify]: Simplify 1 into 1
24.644 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.644 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.644 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.644 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.644 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.644 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.644 * [backup-simplify]: Simplify -0.5 into -0.5
24.644 * [taylor]: Taking taylor expansion of phi2 in phi2
24.644 * [backup-simplify]: Simplify 0 into 0
24.644 * [backup-simplify]: Simplify 1 into 1
24.645 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.645 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.645 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.645 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.645 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.645 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.645 * [backup-simplify]: Simplify -0.5 into -0.5
24.645 * [taylor]: Taking taylor expansion of phi1 in phi2
24.645 * [backup-simplify]: Simplify phi1 into phi1
24.645 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.645 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.645 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.645 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.645 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.645 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.645 * [backup-simplify]: Simplify -0.5 into -0.5
24.645 * [taylor]: Taking taylor expansion of phi1 in phi2
24.645 * [backup-simplify]: Simplify phi1 into phi1
24.646 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.646 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.646 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.646 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
24.646 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.646 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.646 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.646 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.646 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.646 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.646 * [backup-simplify]: Simplify -0.5 into -0.5
24.646 * [taylor]: Taking taylor expansion of phi2 in phi2
24.646 * [backup-simplify]: Simplify 0 into 0
24.646 * [backup-simplify]: Simplify 1 into 1
24.646 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.647 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.647 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.647 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.647 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.647 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.647 * [backup-simplify]: Simplify -0.5 into -0.5
24.647 * [taylor]: Taking taylor expansion of phi1 in phi2
24.647 * [backup-simplify]: Simplify phi1 into phi1
24.647 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.647 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.647 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.647 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.647 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.647 * [backup-simplify]: Simplify (- 0) into 0
24.648 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.648 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.648 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.648 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.648 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.648 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.648 * [backup-simplify]: Simplify -0.5 into -0.5
24.648 * [taylor]: Taking taylor expansion of phi2 in phi2
24.648 * [backup-simplify]: Simplify 0 into 0
24.648 * [backup-simplify]: Simplify 1 into 1
24.648 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.648 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.648 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.648 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.648 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.648 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.648 * [backup-simplify]: Simplify -0.5 into -0.5
24.649 * [taylor]: Taking taylor expansion of phi1 in phi2
24.649 * [backup-simplify]: Simplify phi1 into phi1
24.649 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.649 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.649 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.649 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.649 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.649 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.649 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
24.649 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.649 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.649 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.649 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.649 * [backup-simplify]: Simplify -0.5 into -0.5
24.649 * [taylor]: Taking taylor expansion of phi2 in phi2
24.649 * [backup-simplify]: Simplify 0 into 0
24.649 * [backup-simplify]: Simplify 1 into 1
24.650 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.650 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.650 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.650 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.650 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.650 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.650 * [backup-simplify]: Simplify -0.5 into -0.5
24.650 * [taylor]: Taking taylor expansion of phi2 in phi2
24.650 * [backup-simplify]: Simplify 0 into 0
24.650 * [backup-simplify]: Simplify 1 into 1
24.650 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.651 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.651 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.651 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.651 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.651 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.651 * [backup-simplify]: Simplify -0.5 into -0.5
24.651 * [taylor]: Taking taylor expansion of phi1 in phi2
24.651 * [backup-simplify]: Simplify phi1 into phi1
24.651 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.651 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.651 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.651 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.651 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.651 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.651 * [backup-simplify]: Simplify -0.5 into -0.5
24.651 * [taylor]: Taking taylor expansion of phi1 in phi2
24.651 * [backup-simplify]: Simplify phi1 into phi1
24.651 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.651 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.651 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.651 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.651 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.651 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.651 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.651 * [backup-simplify]: Simplify -0.5 into -0.5
24.651 * [taylor]: Taking taylor expansion of phi2 in phi2
24.651 * [backup-simplify]: Simplify 0 into 0
24.652 * [backup-simplify]: Simplify 1 into 1
24.652 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.652 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.652 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.652 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.652 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.652 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.652 * [backup-simplify]: Simplify -0.5 into -0.5
24.652 * [taylor]: Taking taylor expansion of phi2 in phi2
24.652 * [backup-simplify]: Simplify 0 into 0
24.652 * [backup-simplify]: Simplify 1 into 1
24.653 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.653 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.653 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.653 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.653 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.653 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.653 * [backup-simplify]: Simplify -0.5 into -0.5
24.653 * [taylor]: Taking taylor expansion of phi1 in phi2
24.653 * [backup-simplify]: Simplify phi1 into phi1
24.653 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.653 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.653 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.653 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.653 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.653 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.653 * [backup-simplify]: Simplify -0.5 into -0.5
24.653 * [taylor]: Taking taylor expansion of phi1 in phi2
24.653 * [backup-simplify]: Simplify phi1 into phi1
24.653 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.653 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.653 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.654 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.654 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.654 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.654 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.655 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.655 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.656 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.656 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.656 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.656 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.656 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.656 * [backup-simplify]: Simplify (- 0) into 0
24.657 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.657 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.657 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.657 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.658 * [backup-simplify]: Simplify (- 0) into 0
24.658 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.658 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.658 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.658 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.658 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.659 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.659 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.660 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.660 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.662 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.663 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.663 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.663 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.663 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.663 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.664 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.664 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.665 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.665 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.665 * [backup-simplify]: Simplify (- 0) into 0
24.665 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.666 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.666 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.666 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.667 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.667 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.667 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.667 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.668 * [backup-simplify]: Simplify (- 0) into 0
24.668 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.668 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.668 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.669 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.670 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.671 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.673 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.677 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
24.681 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
24.686 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
24.686 * [backup-simplify]: Simplify (+ 0) into 0
24.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.687 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.689 * [backup-simplify]: Simplify (- 0) into 0
24.689 * [backup-simplify]: Simplify (+ 0 0) into 0
24.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.690 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.690 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.691 * [backup-simplify]: Simplify (+ 0) into 0
24.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.692 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.693 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.693 * [backup-simplify]: Simplify (+ 0 0) into 0
24.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.694 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.695 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.696 * [backup-simplify]: Simplify (+ 0 0) into 0
24.696 * [backup-simplify]: Simplify (+ 0) into 0
24.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.697 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.698 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.698 * [backup-simplify]: Simplify (+ 0 0) into 0
24.699 * [backup-simplify]: Simplify (+ 0) into 0
24.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.699 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.701 * [backup-simplify]: Simplify (- 0) into 0
24.701 * [backup-simplify]: Simplify (+ 0 0) into 0
24.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.702 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.702 * [backup-simplify]: Simplify (+ 0) into 0
24.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.703 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.704 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.704 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.705 * [backup-simplify]: Simplify (- 0) into 0
24.705 * [backup-simplify]: Simplify (+ 0 0) into 0
24.705 * [backup-simplify]: Simplify (+ 0) into 0
24.706 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.706 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.707 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.707 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.707 * [backup-simplify]: Simplify (+ 0 0) into 0
24.707 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.708 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.708 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.708 * [backup-simplify]: Simplify (+ 0 0) into 0
24.709 * [backup-simplify]: Simplify (- 0) into 0
24.709 * [backup-simplify]: Simplify (+ 0 0) into 0
24.709 * [backup-simplify]: Simplify (+ 0) into 0
24.710 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.710 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.711 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.711 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.711 * [backup-simplify]: Simplify (- 0) into 0
24.717 * [backup-simplify]: Simplify (+ 0 0) into 0
24.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.718 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.718 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.719 * [backup-simplify]: Simplify (+ 0) into 0
24.719 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.719 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.720 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.720 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.720 * [backup-simplify]: Simplify (+ 0 0) into 0
24.721 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.721 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.721 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.721 * [backup-simplify]: Simplify (+ 0 0) into 0
24.721 * [backup-simplify]: Simplify (+ 0) into 0
24.722 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.722 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.722 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.723 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.723 * [backup-simplify]: Simplify (- 0) into 0
24.723 * [backup-simplify]: Simplify (+ 0 0) into 0
24.723 * [backup-simplify]: Simplify (+ 0) into 0
24.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.724 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.724 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.725 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.725 * [backup-simplify]: Simplify (+ 0 0) into 0
24.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.725 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.726 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.726 * [backup-simplify]: Simplify (+ 0) into 0
24.726 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.727 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.727 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.728 * [backup-simplify]: Simplify (+ 0 0) into 0
24.728 * [backup-simplify]: Simplify (+ 0) into 0
24.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.729 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.730 * [backup-simplify]: Simplify (- 0) into 0
24.730 * [backup-simplify]: Simplify (+ 0 0) into 0
24.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.731 * [backup-simplify]: Simplify (+ 0 0) into 0
24.731 * [backup-simplify]: Simplify (- 0) into 0
24.731 * [backup-simplify]: Simplify (+ 0 0) into 0
24.733 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
24.738 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.741 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.741 * [taylor]: Taking taylor expansion of (+ (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))))) in phi2
24.741 * [taylor]: Taking taylor expansion of (* 2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) in phi2
24.741 * [taylor]: Taking taylor expansion of 2 in phi2
24.741 * [backup-simplify]: Simplify 2 into 2
24.741 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2
24.741 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* phi2 (* lambda1 phi1))) in phi2
24.741 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
24.741 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
24.741 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
24.741 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.741 * [backup-simplify]: Simplify -0.5 into -0.5
24.741 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
24.741 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
24.741 * [taylor]: Taking taylor expansion of phi1 in phi2
24.741 * [backup-simplify]: Simplify phi1 into phi1
24.741 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
24.741 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
24.741 * [taylor]: Taking taylor expansion of phi2 in phi2
24.741 * [backup-simplify]: Simplify 0 into 0
24.741 * [backup-simplify]: Simplify 1 into 1
24.742 * [backup-simplify]: Simplify (/ 1 1) into 1
24.742 * [backup-simplify]: Simplify (+ 0 1) into 1
24.742 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
24.742 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
24.742 * [taylor]: Taking taylor expansion of (* phi2 (* lambda1 phi1)) in phi2
24.743 * [taylor]: Taking taylor expansion of phi2 in phi2
24.743 * [backup-simplify]: Simplify 0 into 0
24.743 * [backup-simplify]: Simplify 1 into 1
24.743 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi2
24.743 * [taylor]: Taking taylor expansion of lambda1 in phi2
24.743 * [backup-simplify]: Simplify lambda1 into lambda1
24.743 * [taylor]: Taking taylor expansion of phi1 in phi2
24.743 * [backup-simplify]: Simplify phi1 into phi1
24.743 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
24.743 * [backup-simplify]: Simplify (* lambda1 phi1) into (* lambda1 phi1)
24.743 * [backup-simplify]: Simplify (* 0 (* lambda1 phi1)) into 0
24.743 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 phi1)) into 0
24.743 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* lambda1 phi1))) into (* lambda1 phi1)
24.744 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))
24.744 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2
24.744 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2
24.744 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
24.744 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
24.744 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.744 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.744 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.744 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.744 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.744 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.744 * [backup-simplify]: Simplify -0.5 into -0.5
24.744 * [taylor]: Taking taylor expansion of phi2 in phi2
24.744 * [backup-simplify]: Simplify 0 into 0
24.744 * [backup-simplify]: Simplify 1 into 1
24.744 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.744 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.744 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.745 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.745 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.745 * [backup-simplify]: Simplify -0.5 into -0.5
24.745 * [taylor]: Taking taylor expansion of phi1 in phi2
24.745 * [backup-simplify]: Simplify phi1 into phi1
24.745 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.745 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.745 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.745 * [backup-simplify]: Simplify (- 0) into 0
24.745 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.745 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.745 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.745 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.745 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.745 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.745 * [backup-simplify]: Simplify -0.5 into -0.5
24.745 * [taylor]: Taking taylor expansion of phi2 in phi2
24.745 * [backup-simplify]: Simplify 0 into 0
24.745 * [backup-simplify]: Simplify 1 into 1
24.746 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.746 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.746 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.746 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.746 * [backup-simplify]: Simplify -0.5 into -0.5
24.746 * [taylor]: Taking taylor expansion of phi1 in phi2
24.746 * [backup-simplify]: Simplify phi1 into phi1
24.746 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.746 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.746 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.746 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.746 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
24.746 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.746 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.746 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.746 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.746 * [backup-simplify]: Simplify -0.5 into -0.5
24.746 * [taylor]: Taking taylor expansion of phi2 in phi2
24.746 * [backup-simplify]: Simplify 0 into 0
24.747 * [backup-simplify]: Simplify 1 into 1
24.747 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.747 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.747 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.747 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.747 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.747 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.747 * [backup-simplify]: Simplify -0.5 into -0.5
24.747 * [taylor]: Taking taylor expansion of phi2 in phi2
24.747 * [backup-simplify]: Simplify 0 into 0
24.747 * [backup-simplify]: Simplify 1 into 1
24.747 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.747 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.747 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.748 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.748 * [backup-simplify]: Simplify -0.5 into -0.5
24.748 * [taylor]: Taking taylor expansion of phi1 in phi2
24.748 * [backup-simplify]: Simplify phi1 into phi1
24.748 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.748 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.748 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.748 * [backup-simplify]: Simplify -0.5 into -0.5
24.748 * [taylor]: Taking taylor expansion of phi1 in phi2
24.748 * [backup-simplify]: Simplify phi1 into phi1
24.748 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.748 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.748 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.748 * [backup-simplify]: Simplify -0.5 into -0.5
24.748 * [taylor]: Taking taylor expansion of phi2 in phi2
24.748 * [backup-simplify]: Simplify 0 into 0
24.748 * [backup-simplify]: Simplify 1 into 1
24.749 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.749 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.749 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.749 * [backup-simplify]: Simplify -0.5 into -0.5
24.749 * [taylor]: Taking taylor expansion of phi2 in phi2
24.749 * [backup-simplify]: Simplify 0 into 0
24.749 * [backup-simplify]: Simplify 1 into 1
24.749 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.749 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.749 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.749 * [backup-simplify]: Simplify -0.5 into -0.5
24.749 * [taylor]: Taking taylor expansion of phi1 in phi2
24.749 * [backup-simplify]: Simplify phi1 into phi1
24.749 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.750 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.750 * [backup-simplify]: Simplify -0.5 into -0.5
24.750 * [taylor]: Taking taylor expansion of phi1 in phi2
24.750 * [backup-simplify]: Simplify phi1 into phi1
24.750 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.750 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.750 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
24.750 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.750 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.750 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.750 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.750 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.750 * [backup-simplify]: Simplify -0.5 into -0.5
24.750 * [taylor]: Taking taylor expansion of phi2 in phi2
24.750 * [backup-simplify]: Simplify 0 into 0
24.750 * [backup-simplify]: Simplify 1 into 1
24.750 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.750 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.750 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.750 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.750 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.750 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.750 * [backup-simplify]: Simplify -0.5 into -0.5
24.750 * [taylor]: Taking taylor expansion of phi1 in phi2
24.750 * [backup-simplify]: Simplify phi1 into phi1
24.751 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.751 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.751 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.751 * [backup-simplify]: Simplify (- 0) into 0
24.751 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.751 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.751 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.751 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.751 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.751 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.751 * [backup-simplify]: Simplify -0.5 into -0.5
24.751 * [taylor]: Taking taylor expansion of phi2 in phi2
24.751 * [backup-simplify]: Simplify 0 into 0
24.751 * [backup-simplify]: Simplify 1 into 1
24.752 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.752 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.752 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.752 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.752 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.752 * [backup-simplify]: Simplify -0.5 into -0.5
24.752 * [taylor]: Taking taylor expansion of phi1 in phi2
24.752 * [backup-simplify]: Simplify phi1 into phi1
24.752 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.752 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.752 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.752 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.752 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.752 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
24.752 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.752 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.752 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.752 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.752 * [backup-simplify]: Simplify -0.5 into -0.5
24.752 * [taylor]: Taking taylor expansion of phi2 in phi2
24.752 * [backup-simplify]: Simplify 0 into 0
24.752 * [backup-simplify]: Simplify 1 into 1
24.753 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.753 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.753 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.753 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.753 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.753 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.753 * [backup-simplify]: Simplify -0.5 into -0.5
24.753 * [taylor]: Taking taylor expansion of phi2 in phi2
24.753 * [backup-simplify]: Simplify 0 into 0
24.753 * [backup-simplify]: Simplify 1 into 1
24.753 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.753 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.753 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.753 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.753 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.753 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.753 * [backup-simplify]: Simplify -0.5 into -0.5
24.753 * [taylor]: Taking taylor expansion of phi1 in phi2
24.753 * [backup-simplify]: Simplify phi1 into phi1
24.753 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.754 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.754 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.754 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.754 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.754 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.754 * [backup-simplify]: Simplify -0.5 into -0.5
24.754 * [taylor]: Taking taylor expansion of phi1 in phi2
24.754 * [backup-simplify]: Simplify phi1 into phi1
24.754 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.754 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.754 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.754 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.754 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.754 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.754 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.754 * [backup-simplify]: Simplify -0.5 into -0.5
24.754 * [taylor]: Taking taylor expansion of phi2 in phi2
24.754 * [backup-simplify]: Simplify 0 into 0
24.754 * [backup-simplify]: Simplify 1 into 1
24.755 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.755 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.755 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.755 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.755 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.755 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.755 * [backup-simplify]: Simplify -0.5 into -0.5
24.755 * [taylor]: Taking taylor expansion of phi2 in phi2
24.755 * [backup-simplify]: Simplify 0 into 0
24.755 * [backup-simplify]: Simplify 1 into 1
24.755 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.755 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.755 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.755 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.755 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.755 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.755 * [backup-simplify]: Simplify -0.5 into -0.5
24.755 * [taylor]: Taking taylor expansion of phi1 in phi2
24.755 * [backup-simplify]: Simplify phi1 into phi1
24.755 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.755 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.755 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.755 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.756 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.756 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.756 * [backup-simplify]: Simplify -0.5 into -0.5
24.756 * [taylor]: Taking taylor expansion of phi1 in phi2
24.756 * [backup-simplify]: Simplify phi1 into phi1
24.756 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.756 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.756 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.756 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.756 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.756 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.756 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.756 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.757 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.757 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.757 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.757 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.757 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.757 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.758 * [backup-simplify]: Simplify (- 0) into 0
24.758 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.758 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.758 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.759 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.759 * [backup-simplify]: Simplify (- 0) into 0
24.759 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.759 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.759 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.760 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.760 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.761 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.762 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.762 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.762 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.762 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.763 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.763 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.764 * [backup-simplify]: Simplify (- 0) into 0
24.764 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.764 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.764 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.764 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.764 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.765 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.765 * [backup-simplify]: Simplify (- 0) into 0
24.765 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.765 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.766 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.767 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.768 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.770 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
24.773 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
24.776 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
24.776 * [backup-simplify]: Simplify (+ 0) into 0
24.777 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.777 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.777 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.778 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.778 * [backup-simplify]: Simplify (- 0) into 0
24.778 * [backup-simplify]: Simplify (+ 0 0) into 0
24.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.778 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.779 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.779 * [backup-simplify]: Simplify (+ 0) into 0
24.779 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.780 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.780 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.780 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.781 * [backup-simplify]: Simplify (+ 0 0) into 0
24.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.781 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.781 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.782 * [backup-simplify]: Simplify (+ 0 0) into 0
24.782 * [backup-simplify]: Simplify (+ 0) into 0
24.783 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.783 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.783 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.784 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.784 * [backup-simplify]: Simplify (+ 0 0) into 0
24.785 * [backup-simplify]: Simplify (+ 0) into 0
24.785 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.785 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.786 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.786 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.787 * [backup-simplify]: Simplify (- 0) into 0
24.787 * [backup-simplify]: Simplify (+ 0 0) into 0
24.787 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.788 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.788 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.788 * [backup-simplify]: Simplify (+ 0) into 0
24.789 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.789 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.790 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.790 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.790 * [backup-simplify]: Simplify (- 0) into 0
24.791 * [backup-simplify]: Simplify (+ 0 0) into 0
24.791 * [backup-simplify]: Simplify (+ 0) into 0
24.792 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.792 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.793 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.793 * [backup-simplify]: Simplify (+ 0 0) into 0
24.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.795 * [backup-simplify]: Simplify (+ 0 0) into 0
24.795 * [backup-simplify]: Simplify (- 0) into 0
24.796 * [backup-simplify]: Simplify (+ 0 0) into 0
24.796 * [backup-simplify]: Simplify (+ 0) into 0
24.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.797 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.797 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.798 * [backup-simplify]: Simplify (- 0) into 0
24.798 * [backup-simplify]: Simplify (+ 0 0) into 0
24.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.799 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.800 * [backup-simplify]: Simplify (+ 0) into 0
24.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.800 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.801 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.802 * [backup-simplify]: Simplify (+ 0 0) into 0
24.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.802 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.803 * [backup-simplify]: Simplify (+ 0 0) into 0
24.803 * [backup-simplify]: Simplify (+ 0) into 0
24.804 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.804 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.805 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.806 * [backup-simplify]: Simplify (- 0) into 0
24.806 * [backup-simplify]: Simplify (+ 0 0) into 0
24.806 * [backup-simplify]: Simplify (+ 0) into 0
24.807 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.807 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.808 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.808 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.808 * [backup-simplify]: Simplify (+ 0 0) into 0
24.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.809 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.809 * [backup-simplify]: Simplify (+ 0) into 0
24.809 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.810 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.810 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.810 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.811 * [backup-simplify]: Simplify (+ 0 0) into 0
24.811 * [backup-simplify]: Simplify (+ 0) into 0
24.811 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.811 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.812 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.812 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.812 * [backup-simplify]: Simplify (- 0) into 0
24.813 * [backup-simplify]: Simplify (+ 0 0) into 0
24.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.813 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.813 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.813 * [backup-simplify]: Simplify (+ 0 0) into 0
24.814 * [backup-simplify]: Simplify (- 0) into 0
24.814 * [backup-simplify]: Simplify (+ 0 0) into 0
24.816 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
24.821 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.823 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
24.823 * [taylor]: Taking taylor expansion of (+ (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))))) in phi2
24.823 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))) in phi2
24.823 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) in phi2
24.824 * [taylor]: Taking taylor expansion of (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
24.824 * [taylor]: Taking taylor expansion of (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
24.824 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) 3) in phi2
24.824 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
24.824 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.824 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.824 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.824 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.824 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.824 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.824 * [backup-simplify]: Simplify -0.5 into -0.5
24.824 * [taylor]: Taking taylor expansion of phi2 in phi2
24.824 * [backup-simplify]: Simplify 0 into 0
24.824 * [backup-simplify]: Simplify 1 into 1
24.824 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.824 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.824 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.824 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.824 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.824 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.824 * [backup-simplify]: Simplify -0.5 into -0.5
24.824 * [taylor]: Taking taylor expansion of phi1 in phi2
24.825 * [backup-simplify]: Simplify phi1 into phi1
24.825 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.825 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.825 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.825 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.825 * [backup-simplify]: Simplify (- 0) into 0
24.825 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.825 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.825 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.825 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.825 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.825 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.825 * [backup-simplify]: Simplify -0.5 into -0.5
24.825 * [taylor]: Taking taylor expansion of phi2 in phi2
24.825 * [backup-simplify]: Simplify 0 into 0
24.825 * [backup-simplify]: Simplify 1 into 1
24.826 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.826 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.826 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.826 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.826 * [backup-simplify]: Simplify -0.5 into -0.5
24.826 * [taylor]: Taking taylor expansion of phi1 in phi2
24.826 * [backup-simplify]: Simplify phi1 into phi1
24.826 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.826 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.826 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.826 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
24.826 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.826 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.826 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.826 * [backup-simplify]: Simplify -0.5 into -0.5
24.826 * [taylor]: Taking taylor expansion of phi2 in phi2
24.826 * [backup-simplify]: Simplify 0 into 0
24.826 * [backup-simplify]: Simplify 1 into 1
24.827 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.827 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.827 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.827 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.827 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.827 * [backup-simplify]: Simplify -0.5 into -0.5
24.827 * [taylor]: Taking taylor expansion of phi2 in phi2
24.827 * [backup-simplify]: Simplify 0 into 0
24.827 * [backup-simplify]: Simplify 1 into 1
24.827 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.827 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.827 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.827 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.827 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.827 * [backup-simplify]: Simplify -0.5 into -0.5
24.827 * [taylor]: Taking taylor expansion of phi1 in phi2
24.827 * [backup-simplify]: Simplify phi1 into phi1
24.828 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.828 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.828 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.828 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.828 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.828 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.828 * [backup-simplify]: Simplify -0.5 into -0.5
24.828 * [taylor]: Taking taylor expansion of phi1 in phi2
24.828 * [backup-simplify]: Simplify phi1 into phi1
24.828 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.828 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.828 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.828 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.828 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.828 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.828 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.828 * [backup-simplify]: Simplify -0.5 into -0.5
24.828 * [taylor]: Taking taylor expansion of phi2 in phi2
24.828 * [backup-simplify]: Simplify 0 into 0
24.828 * [backup-simplify]: Simplify 1 into 1
24.828 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.829 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.829 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.829 * [backup-simplify]: Simplify -0.5 into -0.5
24.829 * [taylor]: Taking taylor expansion of phi2 in phi2
24.829 * [backup-simplify]: Simplify 0 into 0
24.829 * [backup-simplify]: Simplify 1 into 1
24.829 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.829 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.829 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.829 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.829 * [backup-simplify]: Simplify -0.5 into -0.5
24.829 * [taylor]: Taking taylor expansion of phi1 in phi2
24.829 * [backup-simplify]: Simplify phi1 into phi1
24.829 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.829 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.829 * [backup-simplify]: Simplify -0.5 into -0.5
24.829 * [taylor]: Taking taylor expansion of phi1 in phi2
24.829 * [backup-simplify]: Simplify phi1 into phi1
24.830 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.830 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.830 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.830 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.830 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.831 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.831 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.832 * [backup-simplify]: Simplify (- 0) into 0
24.832 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.832 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.832 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.833 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.833 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.833 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.833 * [backup-simplify]: Simplify (- 0) into 0
24.834 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.834 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.835 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.835 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.837 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.837 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
24.837 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.837 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.837 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.837 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.837 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.837 * [backup-simplify]: Simplify -0.5 into -0.5
24.837 * [taylor]: Taking taylor expansion of phi2 in phi2
24.837 * [backup-simplify]: Simplify 0 into 0
24.837 * [backup-simplify]: Simplify 1 into 1
24.838 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.838 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.838 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.838 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.838 * [backup-simplify]: Simplify -0.5 into -0.5
24.838 * [taylor]: Taking taylor expansion of phi1 in phi2
24.838 * [backup-simplify]: Simplify phi1 into phi1
24.838 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.846 * [backup-simplify]: Simplify (- 0) into 0
24.846 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.846 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.846 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.846 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.846 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.846 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.846 * [backup-simplify]: Simplify -0.5 into -0.5
24.846 * [taylor]: Taking taylor expansion of phi2 in phi2
24.847 * [backup-simplify]: Simplify 0 into 0
24.847 * [backup-simplify]: Simplify 1 into 1
24.847 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.847 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.847 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.847 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.847 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.847 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.847 * [backup-simplify]: Simplify -0.5 into -0.5
24.847 * [taylor]: Taking taylor expansion of phi1 in phi2
24.847 * [backup-simplify]: Simplify phi1 into phi1
24.847 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.848 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.848 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.848 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.848 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.848 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.848 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
24.848 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.848 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.848 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.848 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.848 * [backup-simplify]: Simplify -0.5 into -0.5
24.848 * [taylor]: Taking taylor expansion of phi2 in phi2
24.848 * [backup-simplify]: Simplify 0 into 0
24.848 * [backup-simplify]: Simplify 1 into 1
24.848 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.849 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.849 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.849 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.849 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.849 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.849 * [backup-simplify]: Simplify -0.5 into -0.5
24.849 * [taylor]: Taking taylor expansion of phi2 in phi2
24.849 * [backup-simplify]: Simplify 0 into 0
24.849 * [backup-simplify]: Simplify 1 into 1
24.849 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.849 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.849 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.849 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.849 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.849 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.849 * [backup-simplify]: Simplify -0.5 into -0.5
24.849 * [taylor]: Taking taylor expansion of phi1 in phi2
24.849 * [backup-simplify]: Simplify phi1 into phi1
24.849 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.849 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.849 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.849 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.849 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.849 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.850 * [backup-simplify]: Simplify -0.5 into -0.5
24.850 * [taylor]: Taking taylor expansion of phi1 in phi2
24.850 * [backup-simplify]: Simplify phi1 into phi1
24.850 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.850 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.850 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.850 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.850 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.850 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.850 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.850 * [backup-simplify]: Simplify -0.5 into -0.5
24.850 * [taylor]: Taking taylor expansion of phi2 in phi2
24.850 * [backup-simplify]: Simplify 0 into 0
24.850 * [backup-simplify]: Simplify 1 into 1
24.850 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.850 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.850 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.850 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.850 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.850 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.850 * [backup-simplify]: Simplify -0.5 into -0.5
24.850 * [taylor]: Taking taylor expansion of phi2 in phi2
24.850 * [backup-simplify]: Simplify 0 into 0
24.850 * [backup-simplify]: Simplify 1 into 1
24.851 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.851 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.851 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.851 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.851 * [backup-simplify]: Simplify -0.5 into -0.5
24.851 * [taylor]: Taking taylor expansion of phi1 in phi2
24.851 * [backup-simplify]: Simplify phi1 into phi1
24.851 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.851 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.851 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.851 * [backup-simplify]: Simplify -0.5 into -0.5
24.851 * [taylor]: Taking taylor expansion of phi1 in phi2
24.851 * [backup-simplify]: Simplify phi1 into phi1
24.851 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.854 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)
24.856 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))
24.856 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.856 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.857 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.857 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.858 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.858 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.858 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.858 * [backup-simplify]: Simplify (- 0) into 0
24.858 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.858 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.859 * [backup-simplify]: Simplify (- 0) into 0
24.859 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.860 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.860 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.860 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.860 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
24.861 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.862 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
24.866 * [backup-simplify]: Simplify (* (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
24.870 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))))
24.874 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
24.875 * [backup-simplify]: Simplify (+ 0) into 0
24.876 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.876 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.877 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.877 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.878 * [backup-simplify]: Simplify (- 0) into 0
24.878 * [backup-simplify]: Simplify (+ 0 0) into 0
24.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.878 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.879 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.879 * [backup-simplify]: Simplify (+ 0) into 0
24.880 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.880 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.881 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.881 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.882 * [backup-simplify]: Simplify (+ 0 0) into 0
24.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.882 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.883 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.883 * [backup-simplify]: Simplify (+ 0 0) into 0
24.883 * [backup-simplify]: Simplify (+ 0) into 0
24.884 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.884 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.885 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.885 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.886 * [backup-simplify]: Simplify (- 0) into 0
24.886 * [backup-simplify]: Simplify (+ 0 0) into 0
24.887 * [backup-simplify]: Simplify (+ 0) into 0
24.887 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.887 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.888 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.888 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.889 * [backup-simplify]: Simplify (+ 0 0) into 0
24.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.889 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.890 * [backup-simplify]: Simplify (+ 0) into 0
24.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.891 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.892 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.892 * [backup-simplify]: Simplify (+ 0 0) into 0
24.893 * [backup-simplify]: Simplify (+ 0) into 0
24.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.893 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.895 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.895 * [backup-simplify]: Simplify (- 0) into 0
24.895 * [backup-simplify]: Simplify (+ 0 0) into 0
24.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.896 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.896 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.897 * [backup-simplify]: Simplify (+ 0 0) into 0
24.897 * [backup-simplify]: Simplify (- 0) into 0
24.897 * [backup-simplify]: Simplify (+ 0 0) into 0
24.898 * [backup-simplify]: Simplify (+ 0) into 0
24.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.898 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.899 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.900 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.900 * [backup-simplify]: Simplify (- 0) into 0
24.900 * [backup-simplify]: Simplify (+ 0 0) into 0
24.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.901 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
24.901 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
24.902 * [backup-simplify]: Simplify (+ 0) into 0
24.902 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.902 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.903 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.903 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.904 * [backup-simplify]: Simplify (+ 0 0) into 0
24.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.904 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
24.905 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
24.905 * [backup-simplify]: Simplify (+ 0 0) into 0
24.905 * [backup-simplify]: Simplify (+ 0) into 0
24.906 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.906 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.907 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.907 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.908 * [backup-simplify]: Simplify (+ 0 0) into 0
24.908 * [backup-simplify]: Simplify (+ 0) into 0
24.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.909 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.910 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.911 * [backup-simplify]: Simplify (- 0) into 0
24.911 * [backup-simplify]: Simplify (+ 0 0) into 0
24.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
24.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
24.912 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
24.912 * [backup-simplify]: Simplify (+ 0) into 0
24.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.914 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.915 * [backup-simplify]: Simplify (- 0) into 0
24.915 * [backup-simplify]: Simplify (+ 0 0) into 0
24.916 * [backup-simplify]: Simplify (+ 0) into 0
24.916 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
24.917 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
24.917 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
24.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
24.918 * [backup-simplify]: Simplify (+ 0 0) into 0
24.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
24.919 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
24.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
24.920 * [backup-simplify]: Simplify (+ 0 0) into 0
24.920 * [backup-simplify]: Simplify (- 0) into 0
24.920 * [backup-simplify]: Simplify (+ 0 0) into 0
24.924 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
24.928 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))) into 0
24.935 * [backup-simplify]: Simplify (+ (* (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
24.950 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2)))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) into 0
24.957 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 2))))))) into 0
24.958 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3)) in phi2
24.958 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) in phi2
24.958 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
24.958 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
24.958 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.958 * [backup-simplify]: Simplify -0.5 into -0.5
24.958 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
24.958 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
24.958 * [taylor]: Taking taylor expansion of phi1 in phi2
24.958 * [backup-simplify]: Simplify phi1 into phi1
24.958 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
24.958 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
24.958 * [taylor]: Taking taylor expansion of phi2 in phi2
24.958 * [backup-simplify]: Simplify 0 into 0
24.958 * [backup-simplify]: Simplify 1 into 1
24.959 * [backup-simplify]: Simplify (/ 1 1) into 1
24.959 * [backup-simplify]: Simplify (+ 0 1) into 1
24.960 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
24.960 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
24.960 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
24.960 * [taylor]: Taking taylor expansion of lambda1 in phi2
24.960 * [backup-simplify]: Simplify lambda1 into lambda1
24.960 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
24.961 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)
24.962 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 3)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6)
24.962 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
24.962 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
24.962 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 6) (pow lambda1 3))
24.962 * [taylor]: Taking taylor expansion of (* (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) in phi2
24.962 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3)) in phi2
24.962 * [taylor]: Taking taylor expansion of (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) in phi2
24.962 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
24.962 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
24.963 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
24.963 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.963 * [backup-simplify]: Simplify -0.5 into -0.5
24.963 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
24.963 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
24.963 * [taylor]: Taking taylor expansion of phi1 in phi2
24.963 * [backup-simplify]: Simplify phi1 into phi1
24.963 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
24.963 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
24.963 * [taylor]: Taking taylor expansion of phi2 in phi2
24.963 * [backup-simplify]: Simplify 0 into 0
24.963 * [backup-simplify]: Simplify 1 into 1
24.963 * [backup-simplify]: Simplify (/ 1 1) into 1
24.964 * [backup-simplify]: Simplify (+ 0 1) into 1
24.964 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
24.965 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
24.965 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi2
24.965 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.965 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.965 * [backup-simplify]: Simplify -0.5 into -0.5
24.965 * [taylor]: Taking taylor expansion of phi1 in phi2
24.965 * [backup-simplify]: Simplify phi1 into phi1
24.965 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.965 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.965 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.965 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi2
24.965 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.965 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.965 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.965 * [backup-simplify]: Simplify -0.5 into -0.5
24.965 * [taylor]: Taking taylor expansion of phi2 in phi2
24.965 * [backup-simplify]: Simplify 0 into 0
24.965 * [backup-simplify]: Simplify 1 into 1
24.966 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.966 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.966 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi2
24.966 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.967 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.967 * [backup-simplify]: Simplify -0.5 into -0.5
24.967 * [taylor]: Taking taylor expansion of phi1 in phi2
24.967 * [backup-simplify]: Simplify phi1 into phi1
24.967 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.967 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.967 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.967 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.967 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.967 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.967 * [backup-simplify]: Simplify -0.5 into -0.5
24.967 * [taylor]: Taking taylor expansion of phi2 in phi2
24.967 * [backup-simplify]: Simplify 0 into 0
24.967 * [backup-simplify]: Simplify 1 into 1
24.968 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.968 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.968 * [taylor]: Taking taylor expansion of (pow lambda1 3) in phi2
24.968 * [taylor]: Taking taylor expansion of lambda1 in phi2
24.968 * [backup-simplify]: Simplify lambda1 into lambda1
24.968 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
24.968 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.969 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.969 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.969 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.969 * [backup-simplify]: Simplify (- 0) into 0
24.970 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.970 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
24.970 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.971 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.971 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))
24.971 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
24.972 * [backup-simplify]: Simplify (* lambda1 (pow lambda1 2)) into (pow lambda1 3)
24.973 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) (pow lambda1 3)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) (pow lambda1 3))
24.973 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) in phi2
24.973 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) in phi2
24.973 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) in phi2
24.973 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
24.973 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.973 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.973 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.973 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.973 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.973 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.973 * [backup-simplify]: Simplify -0.5 into -0.5
24.973 * [taylor]: Taking taylor expansion of phi2 in phi2
24.973 * [backup-simplify]: Simplify 0 into 0
24.973 * [backup-simplify]: Simplify 1 into 1
24.974 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.974 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.974 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.974 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.974 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.974 * [backup-simplify]: Simplify -0.5 into -0.5
24.974 * [taylor]: Taking taylor expansion of phi1 in phi2
24.974 * [backup-simplify]: Simplify phi1 into phi1
24.974 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.974 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.975 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.975 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.975 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.975 * [backup-simplify]: Simplify (- 0) into 0
24.975 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.975 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.975 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.976 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.976 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.976 * [backup-simplify]: Simplify -0.5 into -0.5
24.976 * [taylor]: Taking taylor expansion of phi2 in phi2
24.976 * [backup-simplify]: Simplify 0 into 0
24.976 * [backup-simplify]: Simplify 1 into 1
24.976 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.976 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.976 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.976 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.976 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.977 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.977 * [backup-simplify]: Simplify -0.5 into -0.5
24.977 * [taylor]: Taking taylor expansion of phi1 in phi2
24.977 * [backup-simplify]: Simplify phi1 into phi1
24.977 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.977 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.977 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.977 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.977 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.977 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.977 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
24.977 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.977 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.977 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.977 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.977 * [backup-simplify]: Simplify -0.5 into -0.5
24.978 * [taylor]: Taking taylor expansion of phi2 in phi2
24.978 * [backup-simplify]: Simplify 0 into 0
24.978 * [backup-simplify]: Simplify 1 into 1
24.978 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.978 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.978 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.978 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.978 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.978 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.978 * [backup-simplify]: Simplify -0.5 into -0.5
24.978 * [taylor]: Taking taylor expansion of phi2 in phi2
24.978 * [backup-simplify]: Simplify 0 into 0
24.979 * [backup-simplify]: Simplify 1 into 1
24.979 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.979 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.979 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.979 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.979 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.979 * [backup-simplify]: Simplify -0.5 into -0.5
24.979 * [taylor]: Taking taylor expansion of phi1 in phi2
24.979 * [backup-simplify]: Simplify phi1 into phi1
24.979 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.979 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.980 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.980 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.980 * [backup-simplify]: Simplify -0.5 into -0.5
24.980 * [taylor]: Taking taylor expansion of phi1 in phi2
24.980 * [backup-simplify]: Simplify phi1 into phi1
24.980 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.980 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.980 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.980 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.980 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.980 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.980 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.980 * [backup-simplify]: Simplify -0.5 into -0.5
24.980 * [taylor]: Taking taylor expansion of phi2 in phi2
24.980 * [backup-simplify]: Simplify 0 into 0
24.980 * [backup-simplify]: Simplify 1 into 1
24.981 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.981 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.981 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.981 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.981 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.981 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.981 * [backup-simplify]: Simplify -0.5 into -0.5
24.981 * [taylor]: Taking taylor expansion of phi2 in phi2
24.981 * [backup-simplify]: Simplify 0 into 0
24.981 * [backup-simplify]: Simplify 1 into 1
24.982 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.982 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.982 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.982 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.982 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.982 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.982 * [backup-simplify]: Simplify -0.5 into -0.5
24.982 * [taylor]: Taking taylor expansion of phi1 in phi2
24.982 * [backup-simplify]: Simplify phi1 into phi1
24.982 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.982 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.982 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.982 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.982 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.982 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.982 * [backup-simplify]: Simplify -0.5 into -0.5
24.982 * [taylor]: Taking taylor expansion of phi1 in phi2
24.982 * [backup-simplify]: Simplify phi1 into phi1
24.983 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.983 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.983 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.983 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in phi2
24.983 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
24.983 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
24.983 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
24.983 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.983 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.983 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.983 * [backup-simplify]: Simplify -0.5 into -0.5
24.983 * [taylor]: Taking taylor expansion of phi2 in phi2
24.983 * [backup-simplify]: Simplify 0 into 0
24.983 * [backup-simplify]: Simplify 1 into 1
24.984 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.984 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.984 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
24.984 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.984 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.984 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.984 * [backup-simplify]: Simplify -0.5 into -0.5
24.984 * [taylor]: Taking taylor expansion of phi1 in phi2
24.984 * [backup-simplify]: Simplify phi1 into phi1
24.984 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.984 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.984 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.984 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.985 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.985 * [backup-simplify]: Simplify (- 0) into 0
24.985 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.985 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
24.985 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
24.985 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.985 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.985 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.985 * [backup-simplify]: Simplify -0.5 into -0.5
24.985 * [taylor]: Taking taylor expansion of phi2 in phi2
24.985 * [backup-simplify]: Simplify 0 into 0
24.985 * [backup-simplify]: Simplify 1 into 1
24.986 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.986 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.986 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
24.986 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.986 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.986 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.986 * [backup-simplify]: Simplify -0.5 into -0.5
24.986 * [taylor]: Taking taylor expansion of phi1 in phi2
24.986 * [backup-simplify]: Simplify phi1 into phi1
24.986 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.986 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.986 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.987 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.987 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.987 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.987 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in phi2
24.987 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
24.987 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.987 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.987 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.987 * [backup-simplify]: Simplify -0.5 into -0.5
24.987 * [taylor]: Taking taylor expansion of phi2 in phi2
24.987 * [backup-simplify]: Simplify 0 into 0
24.987 * [backup-simplify]: Simplify 1 into 1
24.988 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.988 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.988 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
24.988 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.988 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.988 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.988 * [backup-simplify]: Simplify -0.5 into -0.5
24.988 * [taylor]: Taking taylor expansion of phi2 in phi2
24.988 * [backup-simplify]: Simplify 0 into 0
24.988 * [backup-simplify]: Simplify 1 into 1
24.989 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.989 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
24.989 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.989 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.989 * [backup-simplify]: Simplify -0.5 into -0.5
24.989 * [taylor]: Taking taylor expansion of phi1 in phi2
24.989 * [backup-simplify]: Simplify phi1 into phi1
24.989 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.989 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.989 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.989 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.989 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.989 * [backup-simplify]: Simplify -0.5 into -0.5
24.989 * [taylor]: Taking taylor expansion of phi1 in phi2
24.989 * [backup-simplify]: Simplify phi1 into phi1
24.989 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.989 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.990 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.990 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
24.990 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
24.990 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.990 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.990 * [backup-simplify]: Simplify -0.5 into -0.5
24.990 * [taylor]: Taking taylor expansion of phi2 in phi2
24.990 * [backup-simplify]: Simplify 0 into 0
24.990 * [backup-simplify]: Simplify 1 into 1
24.990 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.990 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
24.991 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
24.991 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
24.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
24.991 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.991 * [backup-simplify]: Simplify -0.5 into -0.5
24.991 * [taylor]: Taking taylor expansion of phi2 in phi2
24.991 * [backup-simplify]: Simplify 0 into 0
24.991 * [backup-simplify]: Simplify 1 into 1
24.991 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
24.991 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
24.991 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
24.991 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
24.991 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.991 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.991 * [backup-simplify]: Simplify -0.5 into -0.5
24.991 * [taylor]: Taking taylor expansion of phi1 in phi2
24.992 * [backup-simplify]: Simplify phi1 into phi1
24.992 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.992 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
24.992 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
24.992 * [taylor]: Taking taylor expansion of -0.5 in phi2
24.992 * [backup-simplify]: Simplify -0.5 into -0.5
24.992 * [taylor]: Taking taylor expansion of phi1 in phi2
24.992 * [backup-simplify]: Simplify phi1 into phi1
24.992 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
24.992 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
24.992 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
24.992 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
24.993 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
24.993 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
24.993 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
24.993 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
24.994 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
24.995 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
24.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.995 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.995 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.995 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.996 * [backup-simplify]: Simplify (- 0) into 0
24.996 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.996 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
24.996 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
24.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
24.997 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
24.997 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
24.997 * [backup-simplify]: Simplify (- 0) into 0
24.998 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
24.998 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
24.998 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
24.998 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
24.998 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
24.998 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
24.999 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
24.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
25.001 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
25.003 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
25.003 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.003 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.004 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.004 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.004 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.005 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.005 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.006 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.006 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.006 * [backup-simplify]: Simplify (- 0) into 0
25.007 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.007 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.007 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.007 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
25.008 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
25.008 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
25.008 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.009 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.009 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.009 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.010 * [backup-simplify]: Simplify (- 0) into 0
25.010 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.010 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
25.010 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
25.011 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
25.012 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
25.013 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
25.015 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
25.020 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
25.025 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
25.034 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
25.035 * [backup-simplify]: Simplify (+ 0) into 0
25.035 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.035 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.036 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.037 * [backup-simplify]: Simplify (- 0) into 0
25.037 * [backup-simplify]: Simplify (+ 0 0) into 0
25.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.038 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.038 * [backup-simplify]: Simplify (+ 0) into 0
25.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.038 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.039 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.039 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.039 * [backup-simplify]: Simplify (+ 0 0) into 0
25.040 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.040 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.040 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.040 * [backup-simplify]: Simplify (+ 0 0) into 0
25.041 * [backup-simplify]: Simplify (+ 0) into 0
25.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.041 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.042 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.042 * [backup-simplify]: Simplify (+ 0 0) into 0
25.042 * [backup-simplify]: Simplify (+ 0) into 0
25.043 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.043 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.043 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.044 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.044 * [backup-simplify]: Simplify (- 0) into 0
25.044 * [backup-simplify]: Simplify (+ 0 0) into 0
25.044 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.044 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
25.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
25.045 * [backup-simplify]: Simplify (+ 0) into 0
25.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.046 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.046 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.046 * [backup-simplify]: Simplify (- 0) into 0
25.047 * [backup-simplify]: Simplify (+ 0 0) into 0
25.047 * [backup-simplify]: Simplify (+ 0) into 0
25.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.047 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.048 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.048 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.048 * [backup-simplify]: Simplify (+ 0 0) into 0
25.048 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.049 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
25.049 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
25.049 * [backup-simplify]: Simplify (+ 0 0) into 0
25.049 * [backup-simplify]: Simplify (- 0) into 0
25.050 * [backup-simplify]: Simplify (+ 0 0) into 0
25.050 * [backup-simplify]: Simplify (+ 0) into 0
25.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.050 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.051 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.051 * [backup-simplify]: Simplify (- 0) into 0
25.052 * [backup-simplify]: Simplify (+ 0 0) into 0
25.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.052 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.052 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.052 * [backup-simplify]: Simplify (+ 0) into 0
25.053 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.053 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.053 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.054 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.054 * [backup-simplify]: Simplify (+ 0 0) into 0
25.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.054 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.055 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.055 * [backup-simplify]: Simplify (+ 0 0) into 0
25.055 * [backup-simplify]: Simplify (+ 0) into 0
25.055 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.056 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.056 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.056 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.057 * [backup-simplify]: Simplify (- 0) into 0
25.057 * [backup-simplify]: Simplify (+ 0 0) into 0
25.057 * [backup-simplify]: Simplify (+ 0) into 0
25.057 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.058 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.058 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.059 * [backup-simplify]: Simplify (+ 0 0) into 0
25.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.059 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
25.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
25.059 * [backup-simplify]: Simplify (+ 0) into 0
25.060 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.060 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.060 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.061 * [backup-simplify]: Simplify (+ 0 0) into 0
25.061 * [backup-simplify]: Simplify (+ 0) into 0
25.061 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.062 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.062 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.062 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.063 * [backup-simplify]: Simplify (- 0) into 0
25.063 * [backup-simplify]: Simplify (+ 0 0) into 0
25.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.063 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
25.063 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
25.064 * [backup-simplify]: Simplify (+ 0 0) into 0
25.064 * [backup-simplify]: Simplify (- 0) into 0
25.064 * [backup-simplify]: Simplify (+ 0 0) into 0
25.066 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into 0
25.075 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
25.080 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
25.081 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) in phi2
25.081 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) in phi2
25.081 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) in phi2
25.081 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
25.081 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
25.081 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
25.081 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
25.081 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
25.081 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.081 * [backup-simplify]: Simplify -0.5 into -0.5
25.081 * [taylor]: Taking taylor expansion of phi2 in phi2
25.081 * [backup-simplify]: Simplify 0 into 0
25.081 * [backup-simplify]: Simplify 1 into 1
25.082 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.082 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
25.082 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
25.082 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
25.082 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.082 * [backup-simplify]: Simplify -0.5 into -0.5
25.082 * [taylor]: Taking taylor expansion of phi1 in phi2
25.082 * [backup-simplify]: Simplify phi1 into phi1
25.082 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.082 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.082 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.083 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.083 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.083 * [backup-simplify]: Simplify (- 0) into 0
25.083 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.083 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
25.083 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
25.083 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
25.083 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
25.083 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.084 * [backup-simplify]: Simplify -0.5 into -0.5
25.084 * [taylor]: Taking taylor expansion of phi2 in phi2
25.084 * [backup-simplify]: Simplify 0 into 0
25.084 * [backup-simplify]: Simplify 1 into 1
25.084 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.084 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.084 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
25.084 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
25.084 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
25.084 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.084 * [backup-simplify]: Simplify -0.5 into -0.5
25.084 * [taylor]: Taking taylor expansion of phi1 in phi2
25.084 * [backup-simplify]: Simplify phi1 into phi1
25.085 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.085 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.085 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.085 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.085 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.085 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.085 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) in phi2
25.085 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in phi2
25.085 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
25.085 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
25.085 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.085 * [backup-simplify]: Simplify -0.5 into -0.5
25.085 * [taylor]: Taking taylor expansion of phi2 in phi2
25.085 * [backup-simplify]: Simplify 0 into 0
25.085 * [backup-simplify]: Simplify 1 into 1
25.086 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.086 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.086 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in phi2
25.086 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
25.086 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
25.086 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.086 * [backup-simplify]: Simplify -0.5 into -0.5
25.086 * [taylor]: Taking taylor expansion of phi2 in phi2
25.086 * [backup-simplify]: Simplify 0 into 0
25.086 * [backup-simplify]: Simplify 1 into 1
25.087 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.087 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in phi2
25.087 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
25.087 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
25.087 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.087 * [backup-simplify]: Simplify -0.5 into -0.5
25.087 * [taylor]: Taking taylor expansion of phi1 in phi2
25.087 * [backup-simplify]: Simplify phi1 into phi1
25.087 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.087 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.087 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.088 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
25.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
25.088 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.088 * [backup-simplify]: Simplify -0.5 into -0.5
25.088 * [taylor]: Taking taylor expansion of phi1 in phi2
25.088 * [backup-simplify]: Simplify phi1 into phi1
25.088 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.088 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.088 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.088 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in phi2
25.088 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
25.088 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
25.088 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.088 * [backup-simplify]: Simplify -0.5 into -0.5
25.088 * [taylor]: Taking taylor expansion of phi2 in phi2
25.088 * [backup-simplify]: Simplify 0 into 0
25.088 * [backup-simplify]: Simplify 1 into 1
25.089 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.089 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.089 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in phi2
25.089 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
25.089 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
25.089 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.089 * [backup-simplify]: Simplify -0.5 into -0.5
25.089 * [taylor]: Taking taylor expansion of phi2 in phi2
25.089 * [backup-simplify]: Simplify 0 into 0
25.089 * [backup-simplify]: Simplify 1 into 1
25.090 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.090 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.090 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in phi2
25.090 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
25.090 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
25.090 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.090 * [backup-simplify]: Simplify -0.5 into -0.5
25.090 * [taylor]: Taking taylor expansion of phi1 in phi2
25.090 * [backup-simplify]: Simplify phi1 into phi1
25.090 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.090 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.090 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.090 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
25.090 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
25.090 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.090 * [backup-simplify]: Simplify -0.5 into -0.5
25.090 * [taylor]: Taking taylor expansion of phi1 in phi2
25.091 * [backup-simplify]: Simplify phi1 into phi1
25.091 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.091 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.091 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.091 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.091 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.092 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.092 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.092 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.093 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.093 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.094 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.094 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.094 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.094 * [backup-simplify]: Simplify (- 0) into 0
25.095 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
25.095 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
25.095 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
25.096 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.096 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.096 * [backup-simplify]: Simplify (- 0) into 0
25.096 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.096 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.097 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
25.097 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
25.097 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
25.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
25.099 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
25.102 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
25.104 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))
25.106 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))
25.107 * [backup-simplify]: Simplify (+ 0) into 0
25.107 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.108 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.109 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.109 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.109 * [backup-simplify]: Simplify (- 0) into 0
25.110 * [backup-simplify]: Simplify (+ 0 0) into 0
25.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.110 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.111 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.111 * [backup-simplify]: Simplify (+ 0) into 0
25.112 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.112 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.113 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.113 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.114 * [backup-simplify]: Simplify (+ 0 0) into 0
25.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.114 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.115 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.115 * [backup-simplify]: Simplify (+ 0 0) into 0
25.115 * [backup-simplify]: Simplify (+ 0) into 0
25.116 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.116 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.117 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.118 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.118 * [backup-simplify]: Simplify (- 0) into 0
25.118 * [backup-simplify]: Simplify (+ 0 0) into 0
25.119 * [backup-simplify]: Simplify (+ 0) into 0
25.119 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.119 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.120 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.121 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.121 * [backup-simplify]: Simplify (+ 0 0) into 0
25.121 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.122 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into 0
25.122 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
25.123 * [backup-simplify]: Simplify (+ 0) into 0
25.123 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.123 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.124 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.125 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.125 * [backup-simplify]: Simplify (+ 0 0) into 0
25.125 * [backup-simplify]: Simplify (+ 0) into 0
25.126 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.126 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.127 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.128 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.128 * [backup-simplify]: Simplify (- 0) into 0
25.128 * [backup-simplify]: Simplify (+ 0 0) into 0
25.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.129 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into 0
25.129 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
25.130 * [backup-simplify]: Simplify (+ 0 0) into 0
25.130 * [backup-simplify]: Simplify (- 0) into 0
25.131 * [backup-simplify]: Simplify (+ 0 0) into 0
25.135 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
25.138 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
25.143 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
25.148 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 0) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
25.153 * [backup-simplify]: Simplify (+ 0 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
25.159 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) 0) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
25.159 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
25.160 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.160 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
25.161 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
25.166 * [backup-simplify]: Simplify (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) 0) (* 0 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into 0
25.167 * [backup-simplify]: Simplify (+ 0 0) into 0
25.167 * [backup-simplify]: Simplify (+ 0 0) into 0
25.172 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))
25.177 * [backup-simplify]: Simplify (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))) into (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))
25.183 * [backup-simplify]: Simplify (+ (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))) 0) into (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))
25.189 * [backup-simplify]: Simplify (+ 0 (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) into (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))
25.195 * [backup-simplify]: Simplify (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) into (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))
25.201 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))) into (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))
25.223 * [backup-simplify]: Simplify (+ (* (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) (* (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))
25.229 * [backup-simplify]: Simplify (* (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
25.238 * [backup-simplify]: Simplify (+ (* 1/2 (- (* 2 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)))))) (* 0 (* (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))))
25.238 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))))) in phi1
25.238 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) in phi1
25.238 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda1 phi1)) in phi1
25.238 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
25.238 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
25.238 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
25.238 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.238 * [backup-simplify]: Simplify -0.5 into -0.5
25.238 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
25.238 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
25.238 * [taylor]: Taking taylor expansion of phi1 in phi1
25.238 * [backup-simplify]: Simplify 0 into 0
25.238 * [backup-simplify]: Simplify 1 into 1
25.239 * [backup-simplify]: Simplify (/ 1 1) into 1
25.239 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
25.239 * [taylor]: Taking taylor expansion of phi2 in phi1
25.239 * [backup-simplify]: Simplify phi2 into phi2
25.239 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
25.239 * [backup-simplify]: Simplify (+ 1 0) into 1
25.240 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
25.240 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.240 * [taylor]: Taking taylor expansion of (* lambda1 phi1) in phi1
25.240 * [taylor]: Taking taylor expansion of lambda1 in phi1
25.240 * [backup-simplify]: Simplify lambda1 into lambda1
25.240 * [taylor]: Taking taylor expansion of phi1 in phi1
25.240 * [backup-simplify]: Simplify 0 into 0
25.240 * [backup-simplify]: Simplify 1 into 1
25.240 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
25.240 * [backup-simplify]: Simplify (* lambda1 0) into 0
25.240 * [backup-simplify]: Simplify (+ (* lambda1 1) (* 0 0)) into lambda1
25.241 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
25.241 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1
25.241 * [taylor]: Taking taylor expansion of (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1
25.241 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
25.241 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
25.241 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
25.241 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
25.241 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.241 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.241 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.241 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.241 * [backup-simplify]: Simplify -0.5 into -0.5
25.241 * [taylor]: Taking taylor expansion of phi2 in phi1
25.241 * [backup-simplify]: Simplify phi2 into phi2
25.241 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.241 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.241 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.241 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.241 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.242 * [backup-simplify]: Simplify (- 0) into 0
25.242 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.242 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.242 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.242 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.242 * [backup-simplify]: Simplify -0.5 into -0.5
25.242 * [taylor]: Taking taylor expansion of phi1 in phi1
25.242 * [backup-simplify]: Simplify 0 into 0
25.242 * [backup-simplify]: Simplify 1 into 1
25.242 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.242 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.242 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
25.242 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.242 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.242 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.242 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.242 * [backup-simplify]: Simplify -0.5 into -0.5
25.242 * [taylor]: Taking taylor expansion of phi2 in phi1
25.242 * [backup-simplify]: Simplify phi2 into phi2
25.242 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.242 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.243 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.243 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.243 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.243 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.243 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.243 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.243 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.243 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.243 * [backup-simplify]: Simplify -0.5 into -0.5
25.243 * [taylor]: Taking taylor expansion of phi1 in phi1
25.243 * [backup-simplify]: Simplify 0 into 0
25.243 * [backup-simplify]: Simplify 1 into 1
25.243 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.243 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.243 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
25.243 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.243 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.243 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.243 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.243 * [backup-simplify]: Simplify -0.5 into -0.5
25.243 * [taylor]: Taking taylor expansion of phi1 in phi1
25.243 * [backup-simplify]: Simplify 0 into 0
25.243 * [backup-simplify]: Simplify 1 into 1
25.244 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.244 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.244 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.244 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.244 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.244 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.244 * [backup-simplify]: Simplify -0.5 into -0.5
25.244 * [taylor]: Taking taylor expansion of phi2 in phi1
25.244 * [backup-simplify]: Simplify phi2 into phi2
25.244 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.244 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.244 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.244 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.244 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.244 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.244 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.244 * [backup-simplify]: Simplify -0.5 into -0.5
25.244 * [taylor]: Taking taylor expansion of phi2 in phi1
25.244 * [backup-simplify]: Simplify phi2 into phi2
25.244 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.244 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.244 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.244 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.244 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.244 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.244 * [backup-simplify]: Simplify -0.5 into -0.5
25.244 * [taylor]: Taking taylor expansion of phi1 in phi1
25.244 * [backup-simplify]: Simplify 0 into 0
25.244 * [backup-simplify]: Simplify 1 into 1
25.245 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.245 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.245 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
25.245 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.245 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.245 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.245 * [backup-simplify]: Simplify -0.5 into -0.5
25.245 * [taylor]: Taking taylor expansion of phi1 in phi1
25.245 * [backup-simplify]: Simplify 0 into 0
25.245 * [backup-simplify]: Simplify 1 into 1
25.245 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.245 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.245 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
25.245 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.245 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.245 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.245 * [backup-simplify]: Simplify -0.5 into -0.5
25.245 * [taylor]: Taking taylor expansion of phi2 in phi1
25.245 * [backup-simplify]: Simplify phi2 into phi2
25.246 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.246 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.246 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.246 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
25.246 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.246 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.246 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.246 * [backup-simplify]: Simplify -0.5 into -0.5
25.246 * [taylor]: Taking taylor expansion of phi2 in phi1
25.246 * [backup-simplify]: Simplify phi2 into phi2
25.246 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.246 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.246 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.246 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.246 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.246 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.246 * [backup-simplify]: Simplify -0.5 into -0.5
25.246 * [taylor]: Taking taylor expansion of phi1 in phi1
25.246 * [backup-simplify]: Simplify 0 into 0
25.246 * [backup-simplify]: Simplify 1 into 1
25.246 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.246 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.246 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
25.246 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
25.247 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
25.247 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
25.247 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.247 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.247 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.247 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.247 * [backup-simplify]: Simplify -0.5 into -0.5
25.247 * [taylor]: Taking taylor expansion of phi2 in phi1
25.247 * [backup-simplify]: Simplify phi2 into phi2
25.247 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.247 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.247 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.247 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.247 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.247 * [backup-simplify]: Simplify (- 0) into 0
25.248 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.248 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.248 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.248 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.248 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.248 * [backup-simplify]: Simplify -0.5 into -0.5
25.248 * [taylor]: Taking taylor expansion of phi1 in phi1
25.248 * [backup-simplify]: Simplify 0 into 0
25.248 * [backup-simplify]: Simplify 1 into 1
25.248 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.248 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.248 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
25.248 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.248 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.248 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.248 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.248 * [backup-simplify]: Simplify -0.5 into -0.5
25.248 * [taylor]: Taking taylor expansion of phi2 in phi1
25.248 * [backup-simplify]: Simplify phi2 into phi2
25.248 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.248 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.248 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.248 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.248 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.249 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.249 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.249 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.249 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.249 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.249 * [backup-simplify]: Simplify -0.5 into -0.5
25.249 * [taylor]: Taking taylor expansion of phi1 in phi1
25.249 * [backup-simplify]: Simplify 0 into 0
25.249 * [backup-simplify]: Simplify 1 into 1
25.249 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.249 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.249 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
25.249 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.249 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.249 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.249 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.249 * [backup-simplify]: Simplify -0.5 into -0.5
25.249 * [taylor]: Taking taylor expansion of phi1 in phi1
25.249 * [backup-simplify]: Simplify 0 into 0
25.249 * [backup-simplify]: Simplify 1 into 1
25.250 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.250 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.250 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.250 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.250 * [backup-simplify]: Simplify -0.5 into -0.5
25.250 * [taylor]: Taking taylor expansion of phi2 in phi1
25.250 * [backup-simplify]: Simplify phi2 into phi2
25.250 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.250 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.250 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.250 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.250 * [backup-simplify]: Simplify -0.5 into -0.5
25.250 * [taylor]: Taking taylor expansion of phi2 in phi1
25.250 * [backup-simplify]: Simplify phi2 into phi2
25.250 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.250 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.250 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.250 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.250 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.250 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.250 * [backup-simplify]: Simplify -0.5 into -0.5
25.250 * [taylor]: Taking taylor expansion of phi1 in phi1
25.250 * [backup-simplify]: Simplify 0 into 0
25.250 * [backup-simplify]: Simplify 1 into 1
25.251 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.251 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.251 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
25.251 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.251 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.251 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.251 * [backup-simplify]: Simplify -0.5 into -0.5
25.251 * [taylor]: Taking taylor expansion of phi1 in phi1
25.251 * [backup-simplify]: Simplify 0 into 0
25.251 * [backup-simplify]: Simplify 1 into 1
25.251 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.251 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.251 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
25.251 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.251 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.251 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.251 * [backup-simplify]: Simplify -0.5 into -0.5
25.251 * [taylor]: Taking taylor expansion of phi2 in phi1
25.251 * [backup-simplify]: Simplify phi2 into phi2
25.251 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.251 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.251 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.251 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
25.251 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.252 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.252 * [backup-simplify]: Simplify -0.5 into -0.5
25.252 * [taylor]: Taking taylor expansion of phi2 in phi1
25.252 * [backup-simplify]: Simplify phi2 into phi2
25.252 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.252 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.252 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.252 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.252 * [backup-simplify]: Simplify -0.5 into -0.5
25.252 * [taylor]: Taking taylor expansion of phi1 in phi1
25.252 * [backup-simplify]: Simplify 0 into 0
25.252 * [backup-simplify]: Simplify 1 into 1
25.252 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.252 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.252 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
25.252 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
25.252 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
25.252 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.252 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.252 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.252 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.252 * [backup-simplify]: Simplify -0.5 into -0.5
25.252 * [taylor]: Taking taylor expansion of phi2 in phi1
25.252 * [backup-simplify]: Simplify phi2 into phi2
25.252 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.253 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.253 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.253 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.253 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.253 * [backup-simplify]: Simplify (- 0) into 0
25.253 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.253 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.253 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.253 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.253 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.253 * [backup-simplify]: Simplify -0.5 into -0.5
25.253 * [taylor]: Taking taylor expansion of phi1 in phi1
25.253 * [backup-simplify]: Simplify 0 into 0
25.253 * [backup-simplify]: Simplify 1 into 1
25.253 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.254 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.254 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
25.254 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.254 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.254 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.254 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.254 * [backup-simplify]: Simplify -0.5 into -0.5
25.254 * [taylor]: Taking taylor expansion of phi2 in phi1
25.254 * [backup-simplify]: Simplify phi2 into phi2
25.254 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.254 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.254 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.254 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.254 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.254 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.254 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.254 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.254 * [backup-simplify]: Simplify -0.5 into -0.5
25.254 * [taylor]: Taking taylor expansion of phi1 in phi1
25.254 * [backup-simplify]: Simplify 0 into 0
25.254 * [backup-simplify]: Simplify 1 into 1
25.254 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.255 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.255 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
25.255 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.255 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.255 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.255 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.255 * [backup-simplify]: Simplify -0.5 into -0.5
25.255 * [taylor]: Taking taylor expansion of phi2 in phi1
25.255 * [backup-simplify]: Simplify phi2 into phi2
25.255 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.255 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.255 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.255 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.255 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.255 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.255 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.255 * [backup-simplify]: Simplify -0.5 into -0.5
25.255 * [taylor]: Taking taylor expansion of phi1 in phi1
25.255 * [backup-simplify]: Simplify 0 into 0
25.255 * [backup-simplify]: Simplify 1 into 1
25.255 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.255 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.255 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.255 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.255 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.255 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.255 * [backup-simplify]: Simplify -0.5 into -0.5
25.255 * [taylor]: Taking taylor expansion of phi2 in phi1
25.255 * [backup-simplify]: Simplify phi2 into phi2
25.256 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.256 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.256 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.256 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.256 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.256 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.256 * [backup-simplify]: Simplify -0.5 into -0.5
25.256 * [taylor]: Taking taylor expansion of phi1 in phi1
25.256 * [backup-simplify]: Simplify 0 into 0
25.256 * [backup-simplify]: Simplify 1 into 1
25.256 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.256 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.256 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
25.256 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.256 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.256 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.256 * [backup-simplify]: Simplify -0.5 into -0.5
25.256 * [taylor]: Taking taylor expansion of phi2 in phi1
25.256 * [backup-simplify]: Simplify phi2 into phi2
25.256 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.256 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.256 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.256 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
25.257 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.257 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.257 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.257 * [backup-simplify]: Simplify -0.5 into -0.5
25.257 * [taylor]: Taking taylor expansion of phi1 in phi1
25.257 * [backup-simplify]: Simplify 0 into 0
25.257 * [backup-simplify]: Simplify 1 into 1
25.257 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.257 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.257 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
25.257 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.257 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.257 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.257 * [backup-simplify]: Simplify -0.5 into -0.5
25.257 * [taylor]: Taking taylor expansion of phi2 in phi1
25.258 * [backup-simplify]: Simplify phi2 into phi2
25.258 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.258 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.258 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.258 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.258 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.258 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.258 * [backup-simplify]: Simplify -0.5 into -0.5
25.258 * [taylor]: Taking taylor expansion of phi1 in phi1
25.258 * [backup-simplify]: Simplify 0 into 0
25.258 * [backup-simplify]: Simplify 1 into 1
25.258 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.259 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.259 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.259 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.259 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.260 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.260 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.260 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.261 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.261 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.261 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.262 * [backup-simplify]: Simplify (- 0) into 0
25.262 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.262 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.262 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.262 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
25.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
25.263 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.263 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.263 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.264 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.264 * [backup-simplify]: Simplify (- 0) into 0
25.264 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.264 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
25.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
25.265 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
25.265 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))
25.266 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
25.267 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
25.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.267 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.267 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.267 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.268 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.268 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.268 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.268 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.268 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.268 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.269 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.269 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.269 * [backup-simplify]: Simplify (- 0) into 0
25.269 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.269 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.269 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
25.269 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
25.270 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.270 * [backup-simplify]: Simplify (- 0) into 0
25.270 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.270 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.270 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.270 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
25.270 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
25.271 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
25.271 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))
25.272 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
25.273 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))
25.273 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.273 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.273 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.273 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.273 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.274 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.274 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.274 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.274 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.275 * [backup-simplify]: Simplify (- 0) into 0
25.275 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.275 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
25.275 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
25.275 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.276 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.276 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.276 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.276 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.276 * [backup-simplify]: Simplify (- 0) into 0
25.276 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.276 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
25.276 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
25.277 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
25.277 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
25.278 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.279 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.281 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))
25.285 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))))) into (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))
25.287 * [backup-simplify]: Simplify (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) into (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 2)))
25.290 * [backup-simplify]: Simplify (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 2)))) into (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))
25.290 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.291 * [backup-simplify]: Simplify (+ 0) into 0
25.291 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.291 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.292 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.292 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.292 * [backup-simplify]: Simplify (- 0) into 0
25.292 * [backup-simplify]: Simplify (+ 0 0) into 0
25.292 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.293 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.293 * [backup-simplify]: Simplify (+ 0) into 0
25.293 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.294 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.294 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.294 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.295 * [backup-simplify]: Simplify (+ 0 0) into 0
25.295 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.295 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.295 * [backup-simplify]: Simplify (+ 0 0) into 0
25.296 * [backup-simplify]: Simplify (+ 0) into 0
25.296 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.296 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.296 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.297 * [backup-simplify]: Simplify (+ 0 0) into 0
25.297 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.297 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
25.298 * [backup-simplify]: Simplify (+ 0) into 0
25.298 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.298 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.299 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.299 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.299 * [backup-simplify]: Simplify (- 0) into 0
25.299 * [backup-simplify]: Simplify (+ 0 0) into 0
25.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
25.300 * [backup-simplify]: Simplify (+ 0) into 0
25.300 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.300 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.301 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.301 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.301 * [backup-simplify]: Simplify (- 0) into 0
25.302 * [backup-simplify]: Simplify (+ 0 0) into 0
25.302 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
25.302 * [backup-simplify]: Simplify (+ 0) into 0
25.302 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.303 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.303 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.303 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.304 * [backup-simplify]: Simplify (+ 0 0) into 0
25.304 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
25.304 * [backup-simplify]: Simplify (+ 0 0) into 0
25.304 * [backup-simplify]: Simplify (- 0) into 0
25.305 * [backup-simplify]: Simplify (+ 0 0) into 0
25.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.305 * [backup-simplify]: Simplify (+ 0) into 0
25.305 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.305 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.306 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.306 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.306 * [backup-simplify]: Simplify (- 0) into 0
25.307 * [backup-simplify]: Simplify (+ 0 0) into 0
25.307 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.307 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.307 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.307 * [backup-simplify]: Simplify (+ 0) into 0
25.308 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.308 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.308 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.309 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.309 * [backup-simplify]: Simplify (+ 0 0) into 0
25.309 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.309 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.310 * [backup-simplify]: Simplify (+ 0 0) into 0
25.310 * [backup-simplify]: Simplify (+ 0) into 0
25.310 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.310 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.311 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.311 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.311 * [backup-simplify]: Simplify (- 0) into 0
25.311 * [backup-simplify]: Simplify (+ 0 0) into 0
25.312 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.312 * [backup-simplify]: Simplify (+ 0) into 0
25.312 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.312 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.313 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.313 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.313 * [backup-simplify]: Simplify (+ 0 0) into 0
25.313 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
25.314 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0
25.314 * [backup-simplify]: Simplify (+ 0) into 0
25.314 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.314 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.315 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.315 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.315 * [backup-simplify]: Simplify (+ 0 0) into 0
25.316 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.316 * [backup-simplify]: Simplify (+ 0) into 0
25.316 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.316 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.317 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.317 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.318 * [backup-simplify]: Simplify (- 0) into 0
25.318 * [backup-simplify]: Simplify (+ 0 0) into 0
25.319 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
25.319 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0
25.319 * [backup-simplify]: Simplify (+ 0 0) into 0
25.320 * [backup-simplify]: Simplify (- 0) into 0
25.320 * [backup-simplify]: Simplify (+ 0 0) into 0
25.324 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) into 0
25.325 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.325 * [backup-simplify]: Simplify (+ 0) into 0
25.326 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.326 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.327 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.328 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.328 * [backup-simplify]: Simplify (- 0) into 0
25.328 * [backup-simplify]: Simplify (+ 0 0) into 0
25.329 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.329 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.329 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.330 * [backup-simplify]: Simplify (+ 0) into 0
25.330 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.331 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.331 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.332 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.332 * [backup-simplify]: Simplify (+ 0 0) into 0
25.333 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.333 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.334 * [backup-simplify]: Simplify (+ 0 0) into 0
25.334 * [backup-simplify]: Simplify (+ 0) into 0
25.334 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.335 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.335 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.336 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.336 * [backup-simplify]: Simplify (+ 0 0) into 0
25.337 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.337 * [backup-simplify]: Simplify (+ 0) into 0
25.337 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.338 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.338 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.345 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.345 * [backup-simplify]: Simplify (- 0) into 0
25.346 * [backup-simplify]: Simplify (+ 0 0) into 0
25.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
25.346 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0
25.347 * [backup-simplify]: Simplify (+ 0) into 0
25.348 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.348 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.349 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.349 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.350 * [backup-simplify]: Simplify (- 0) into 0
25.350 * [backup-simplify]: Simplify (+ 0 0) into 0
25.350 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.351 * [backup-simplify]: Simplify (+ 0) into 0
25.351 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.352 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.352 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.353 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.353 * [backup-simplify]: Simplify (+ 0 0) into 0
25.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
25.354 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0
25.354 * [backup-simplify]: Simplify (+ 0 0) into 0
25.355 * [backup-simplify]: Simplify (- 0) into 0
25.355 * [backup-simplify]: Simplify (+ 0 0) into 0
25.362 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 0) (* 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))))) into 0
25.371 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 2))) (/ 0 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))))) into 0
25.375 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) 2)))))) into 0
25.378 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) lambda1)))
25.380 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) lambda1)))) into (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) lambda1)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))))
25.380 * [taylor]: Taking taylor expansion of (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) lambda1)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) in lambda1
25.380 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) lambda1)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) in lambda1
25.381 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) lambda1)) in lambda1
25.381 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
25.381 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
25.381 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
25.381 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.381 * [backup-simplify]: Simplify -0.5 into -0.5
25.381 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
25.381 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
25.381 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.381 * [backup-simplify]: Simplify phi1 into phi1
25.381 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
25.381 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
25.381 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.381 * [backup-simplify]: Simplify phi2 into phi2
25.381 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
25.381 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
25.381 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
25.381 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.381 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.381 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.381 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
25.382 * [backup-simplify]: Simplify (- 0) into 0
25.382 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.382 * [taylor]: Taking taylor expansion of (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) lambda1) in lambda1
25.382 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) in lambda1
25.382 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
25.382 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
25.382 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
25.382 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.382 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.382 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.382 * [backup-simplify]: Simplify -0.5 into -0.5
25.382 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.382 * [backup-simplify]: Simplify phi2 into phi2
25.382 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.382 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.382 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.382 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.382 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.383 * [backup-simplify]: Simplify (- 0) into 0
25.383 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.383 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
25.383 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.383 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.383 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.383 * [backup-simplify]: Simplify -0.5 into -0.5
25.383 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.383 * [backup-simplify]: Simplify phi1 into phi1
25.383 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.383 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.383 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.383 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.383 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.384 * [backup-simplify]: Simplify (- 0) into 0
25.384 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.384 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
25.384 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
25.384 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.384 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.384 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.384 * [backup-simplify]: Simplify -0.5 into -0.5
25.384 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.384 * [backup-simplify]: Simplify phi2 into phi2
25.384 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.384 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.384 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.384 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.384 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
25.384 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.384 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.384 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.384 * [backup-simplify]: Simplify -0.5 into -0.5
25.384 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.384 * [backup-simplify]: Simplify phi1 into phi1
25.384 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.384 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.384 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.384 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.384 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.385 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.385 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) in lambda1
25.385 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in lambda1
25.385 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.385 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.385 * [backup-simplify]: Simplify -0.5 into -0.5
25.385 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.385 * [backup-simplify]: Simplify phi1 into phi1
25.385 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.385 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in lambda1
25.385 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.385 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.385 * [backup-simplify]: Simplify -0.5 into -0.5
25.385 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.385 * [backup-simplify]: Simplify phi1 into phi1
25.385 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.385 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in lambda1
25.385 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.385 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.385 * [backup-simplify]: Simplify -0.5 into -0.5
25.385 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.385 * [backup-simplify]: Simplify phi2 into phi2
25.385 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.385 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.385 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.385 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.385 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.385 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.385 * [backup-simplify]: Simplify -0.5 into -0.5
25.385 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.386 * [backup-simplify]: Simplify phi2 into phi2
25.386 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.386 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) in lambda1
25.386 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.386 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.386 * [backup-simplify]: Simplify -0.5 into -0.5
25.386 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.386 * [backup-simplify]: Simplify phi1 into phi1
25.386 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.386 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) in lambda1
25.386 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.386 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.386 * [backup-simplify]: Simplify -0.5 into -0.5
25.386 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.386 * [backup-simplify]: Simplify phi1 into phi1
25.386 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.386 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.386 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) in lambda1
25.386 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.386 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.386 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.386 * [backup-simplify]: Simplify -0.5 into -0.5
25.386 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.386 * [backup-simplify]: Simplify phi2 into phi2
25.386 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.386 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.387 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.387 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.387 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.387 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.387 * [backup-simplify]: Simplify -0.5 into -0.5
25.387 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.387 * [backup-simplify]: Simplify phi2 into phi2
25.387 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.387 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.387 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.387 * [taylor]: Taking taylor expansion of lambda1 in lambda1
25.387 * [backup-simplify]: Simplify 0 into 0
25.387 * [backup-simplify]: Simplify 1 into 1
25.387 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
25.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.387 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.388 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.388 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.388 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.388 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.389 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.389 * [backup-simplify]: Simplify (- 0) into 0
25.389 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.389 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.389 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.390 * [backup-simplify]: Simplify (- 0) into 0
25.390 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.390 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.390 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))
25.390 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
25.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
25.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.391 * [backup-simplify]: Simplify (- 0) into 0
25.391 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.391 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.391 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.391 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.391 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.392 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.392 * [backup-simplify]: Simplify (- 0) into 0
25.392 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.392 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))
25.392 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
25.392 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
25.393 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))
25.393 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))
25.394 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))
25.396 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 0) into 0
25.396 * [backup-simplify]: Simplify (+ 0) into 0
25.396 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.396 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.397 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.397 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.397 * [backup-simplify]: Simplify (- 0) into 0
25.398 * [backup-simplify]: Simplify (+ 0 0) into 0
25.398 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.398 * [backup-simplify]: Simplify (+ 0) into 0
25.399 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.399 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.399 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.399 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.400 * [backup-simplify]: Simplify (- 0) into 0
25.400 * [backup-simplify]: Simplify (+ 0 0) into 0
25.400 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.400 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.401 * [backup-simplify]: Simplify (+ 0) into 0
25.401 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.401 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.401 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.402 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.402 * [backup-simplify]: Simplify (+ 0 0) into 0
25.402 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.402 * [backup-simplify]: Simplify (+ 0) into 0
25.403 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.403 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.403 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.404 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.404 * [backup-simplify]: Simplify (+ 0 0) into 0
25.404 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.404 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.404 * [backup-simplify]: Simplify (+ 0 0) into 0
25.405 * [backup-simplify]: Simplify (+ 0) into 0
25.405 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.405 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.406 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.406 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.406 * [backup-simplify]: Simplify (+ 0 0) into 0
25.406 * [backup-simplify]: Simplify (+ 0) into 0
25.407 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.407 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.407 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.408 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.408 * [backup-simplify]: Simplify (- 0) into 0
25.408 * [backup-simplify]: Simplify (+ 0 0) into 0
25.408 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.408 * [backup-simplify]: Simplify (+ 0) into 0
25.409 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.409 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.409 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.410 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.410 * [backup-simplify]: Simplify (- 0) into 0
25.410 * [backup-simplify]: Simplify (+ 0 0) into 0
25.410 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into 0
25.410 * [backup-simplify]: Simplify (+ 0) into 0
25.411 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.411 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.411 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.412 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.412 * [backup-simplify]: Simplify (+ 0 0) into 0
25.412 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
25.412 * [backup-simplify]: Simplify (+ 0) into 0
25.413 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.413 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.413 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.414 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.414 * [backup-simplify]: Simplify (- 0) into 0
25.414 * [backup-simplify]: Simplify (+ 0 0) into 0
25.414 * [backup-simplify]: Simplify (+ 0) into 0
25.415 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.415 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.415 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.416 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.416 * [backup-simplify]: Simplify (+ 0 0) into 0
25.416 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.416 * [backup-simplify]: Simplify (+ 0) into 0
25.417 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.417 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.417 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.417 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.418 * [backup-simplify]: Simplify (+ 0 0) into 0
25.418 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into 0
25.418 * [backup-simplify]: Simplify (+ 0) into 0
25.418 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.419 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.419 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.419 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.420 * [backup-simplify]: Simplify (- 0) into 0
25.420 * [backup-simplify]: Simplify (+ 0 0) into 0
25.420 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
25.420 * [backup-simplify]: Simplify (+ 0 0) into 0
25.421 * [backup-simplify]: Simplify (- 0) into 0
25.421 * [backup-simplify]: Simplify (+ 0 0) into 0
25.422 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 1) (* 0 0)) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))
25.424 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))
25.424 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1
25.424 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1
25.424 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1
25.424 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
25.424 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
25.424 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
25.424 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.424 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.424 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.424 * [backup-simplify]: Simplify -0.5 into -0.5
25.424 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.424 * [backup-simplify]: Simplify phi2 into phi2
25.424 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.424 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.424 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.424 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.424 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.425 * [backup-simplify]: Simplify (- 0) into 0
25.425 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.425 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
25.425 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.425 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.425 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.425 * [backup-simplify]: Simplify -0.5 into -0.5
25.425 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.425 * [backup-simplify]: Simplify phi1 into phi1
25.425 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.425 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.425 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.425 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.425 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.426 * [backup-simplify]: Simplify (- 0) into 0
25.426 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.426 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
25.426 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
25.426 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.426 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.426 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.426 * [backup-simplify]: Simplify -0.5 into -0.5
25.426 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.426 * [backup-simplify]: Simplify phi2 into phi2
25.426 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.426 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.427 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.427 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.427 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.427 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.427 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
25.427 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.427 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.427 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.427 * [backup-simplify]: Simplify -0.5 into -0.5
25.427 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.427 * [backup-simplify]: Simplify phi1 into phi1
25.427 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.427 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.427 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.428 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.428 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.428 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.428 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1
25.428 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1
25.428 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.428 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.428 * [backup-simplify]: Simplify -0.5 into -0.5
25.428 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.428 * [backup-simplify]: Simplify phi2 into phi2
25.428 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.428 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.428 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.428 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1
25.428 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.428 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.428 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.428 * [backup-simplify]: Simplify -0.5 into -0.5
25.429 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.429 * [backup-simplify]: Simplify phi1 into phi1
25.429 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.429 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
25.429 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.429 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.429 * [backup-simplify]: Simplify -0.5 into -0.5
25.429 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.429 * [backup-simplify]: Simplify phi1 into phi1
25.429 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.429 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.429 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.429 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.429 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.429 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.429 * [backup-simplify]: Simplify -0.5 into -0.5
25.429 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.429 * [backup-simplify]: Simplify phi2 into phi2
25.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.430 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1
25.430 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.430 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.430 * [backup-simplify]: Simplify -0.5 into -0.5
25.430 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.430 * [backup-simplify]: Simplify phi2 into phi2
25.430 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.430 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.430 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.430 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1
25.430 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.430 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.430 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.430 * [backup-simplify]: Simplify -0.5 into -0.5
25.430 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.430 * [backup-simplify]: Simplify phi1 into phi1
25.430 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.431 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1
25.431 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.431 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.431 * [backup-simplify]: Simplify -0.5 into -0.5
25.431 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.431 * [backup-simplify]: Simplify phi1 into phi1
25.431 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.431 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.431 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.431 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.431 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.431 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.431 * [backup-simplify]: Simplify -0.5 into -0.5
25.431 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.431 * [backup-simplify]: Simplify phi2 into phi2
25.431 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.432 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.432 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.432 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.432 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.433 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.433 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.434 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.434 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.434 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.434 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.435 * [backup-simplify]: Simplify (- 0) into 0
25.435 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.435 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.435 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.436 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.436 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.436 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.436 * [backup-simplify]: Simplify (- 0) into 0
25.436 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
25.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
25.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
25.437 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.437 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.438 * [backup-simplify]: Simplify (- 0) into 0
25.438 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.438 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.438 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.438 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.439 * [backup-simplify]: Simplify (- 0) into 0
25.439 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.439 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.439 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.439 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))
25.440 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
25.440 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
25.441 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
25.442 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
25.444 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))
25.446 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))
25.449 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))
25.449 * [backup-simplify]: Simplify (+ 0) into 0
25.450 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.450 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.451 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.451 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.452 * [backup-simplify]: Simplify (- 0) into 0
25.452 * [backup-simplify]: Simplify (+ 0 0) into 0
25.452 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.453 * [backup-simplify]: Simplify (+ 0) into 0
25.453 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.453 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.454 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.455 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.455 * [backup-simplify]: Simplify (- 0) into 0
25.455 * [backup-simplify]: Simplify (+ 0 0) into 0
25.456 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.456 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.457 * [backup-simplify]: Simplify (+ 0) into 0
25.457 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.457 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.458 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.459 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.459 * [backup-simplify]: Simplify (+ 0 0) into 0
25.459 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.459 * [backup-simplify]: Simplify (+ 0) into 0
25.460 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.460 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.461 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.461 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.461 * [backup-simplify]: Simplify (+ 0 0) into 0
25.461 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.462 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.462 * [backup-simplify]: Simplify (+ 0 0) into 0
25.462 * [backup-simplify]: Simplify (+ 0) into 0
25.462 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.463 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.463 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.463 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.464 * [backup-simplify]: Simplify (- 0) into 0
25.464 * [backup-simplify]: Simplify (+ 0 0) into 0
25.464 * [backup-simplify]: Simplify (+ 0) into 0
25.464 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.465 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.465 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.465 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.466 * [backup-simplify]: Simplify (+ 0 0) into 0
25.466 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.466 * [backup-simplify]: Simplify (+ 0) into 0
25.466 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.466 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.467 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.467 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.468 * [backup-simplify]: Simplify (- 0) into 0
25.468 * [backup-simplify]: Simplify (+ 0 0) into 0
25.468 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0
25.468 * [backup-simplify]: Simplify (+ 0) into 0
25.469 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.469 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.469 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.469 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.470 * [backup-simplify]: Simplify (+ 0 0) into 0
25.470 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
25.470 * [backup-simplify]: Simplify (+ 0) into 0
25.471 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.471 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.471 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.471 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.472 * [backup-simplify]: Simplify (+ 0 0) into 0
25.472 * [backup-simplify]: Simplify (+ 0) into 0
25.472 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.472 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.473 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.473 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.473 * [backup-simplify]: Simplify (- 0) into 0
25.474 * [backup-simplify]: Simplify (+ 0 0) into 0
25.474 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.474 * [backup-simplify]: Simplify (+ 0) into 0
25.474 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.474 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.475 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.475 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.475 * [backup-simplify]: Simplify (+ 0 0) into 0
25.476 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0
25.476 * [backup-simplify]: Simplify (+ 0) into 0
25.476 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.476 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.481 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.481 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.482 * [backup-simplify]: Simplify (- 0) into 0
25.482 * [backup-simplify]: Simplify (+ 0 0) into 0
25.482 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
25.482 * [backup-simplify]: Simplify (+ 0 0) into 0
25.483 * [backup-simplify]: Simplify (- 0) into 0
25.483 * [backup-simplify]: Simplify (+ 0 0) into 0
25.485 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
25.486 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0
25.489 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))
25.491 * [backup-simplify]: Simplify (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))) into (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
25.494 * [backup-simplify]: Simplify (- (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))
25.495 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.496 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.496 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.496 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.497 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.497 * [backup-simplify]: Simplify (- 0) into 0
25.497 * [backup-simplify]: Simplify (+ 0 0) into 0
25.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
25.498 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
25.498 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
25.499 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.500 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.500 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.500 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.501 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.501 * [backup-simplify]: Simplify (+ 0 0) into 0
25.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
25.502 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
25.503 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
25.503 * [backup-simplify]: Simplify (+ 0 0) into 0
25.504 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.505 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.505 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.506 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.507 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.507 * [backup-simplify]: Simplify (- 0) into 0
25.507 * [backup-simplify]: Simplify (+ 0 0) into 0
25.508 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.509 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.509 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.510 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.511 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.511 * [backup-simplify]: Simplify (+ 0 0) into 0
25.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
25.512 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
25.513 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0
25.514 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.515 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.515 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.516 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.517 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.517 * [backup-simplify]: Simplify (+ 0 0) into 0
25.518 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.519 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.519 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.520 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.520 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.521 * [backup-simplify]: Simplify (- 0) into 0
25.521 * [backup-simplify]: Simplify (+ 0 0) into 0
25.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
25.522 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
25.523 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0
25.523 * [backup-simplify]: Simplify (+ 0 0) into 0
25.524 * [backup-simplify]: Simplify (- 0) into 0
25.524 * [backup-simplify]: Simplify (+ 0 0) into 0
25.530 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (* 0 (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
25.531 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into 0
25.532 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
25.533 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)) (* 0 (/ 0 1)))) into 0
25.533 * [backup-simplify]: Simplify (+ 0 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
25.534 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))
25.535 * [backup-simplify]: Simplify (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) into (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))))
25.535 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 phi1))) into 0
25.535 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
25.536 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ 1 phi1))) into 0
25.536 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) 0) into (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
25.538 * [backup-simplify]: Simplify (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))) into (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))))
25.540 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))))) into (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))
25.542 * [backup-simplify]: Simplify (- (+ (* 2 (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) into (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)))))
25.546 * [backup-simplify]: Simplify (+ (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) (- (+ (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) (pow lambda1 2))) (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2)))))) into (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))
25.552 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* (- (* 2 (/ 1 phi1))) 0) (* (- (+ (/ 1 (pow phi1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))) (+ (* 2 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (pow lambda1 2))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (* (pow lambda1 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2))))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))))))
25.567 * [backup-simplify]: Simplify (+ (* 1/2 (- (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2))))) (+ (* (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))) (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))))))) (+ (* 0 (- (* 2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 phi1))))) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))))) into (- (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2)))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3)))))))
25.567 * [taylor]: Taking taylor expansion of (- (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2)))))) (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3))))))) in phi1
25.567 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2)))))) in phi1
25.567 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))))) in phi1
25.567 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.567 * [backup-simplify]: Simplify 1/2 into 1/2
25.567 * [taylor]: Taking taylor expansion of (* (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1
25.567 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (pow lambda1 2)) in phi1
25.567 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) in phi1
25.568 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.568 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.568 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.568 * [backup-simplify]: Simplify -0.5 into -0.5
25.568 * [taylor]: Taking taylor expansion of phi1 in phi1
25.568 * [backup-simplify]: Simplify 0 into 0
25.568 * [backup-simplify]: Simplify 1 into 1
25.568 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.568 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.568 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.568 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.568 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.568 * [backup-simplify]: Simplify -0.5 into -0.5
25.568 * [taylor]: Taking taylor expansion of phi2 in phi1
25.568 * [backup-simplify]: Simplify phi2 into phi2
25.568 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.568 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.569 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.569 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.569 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.569 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.569 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
25.569 * [taylor]: Taking taylor expansion of lambda1 in phi1
25.569 * [backup-simplify]: Simplify lambda1 into lambda1
25.569 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.569 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.569 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) into (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2))
25.569 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
25.570 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi1)) 2) (pow (sin (/ -0.5 phi2)) 2)) (pow lambda1 2))
25.570 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
25.570 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
25.570 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
25.570 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
25.570 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
25.570 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.570 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.570 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.570 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.570 * [backup-simplify]: Simplify -0.5 into -0.5
25.570 * [taylor]: Taking taylor expansion of phi2 in phi1
25.570 * [backup-simplify]: Simplify phi2 into phi2
25.570 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.570 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.570 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.570 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.570 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.571 * [backup-simplify]: Simplify (- 0) into 0
25.571 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.571 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.571 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.571 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.571 * [backup-simplify]: Simplify -0.5 into -0.5
25.571 * [taylor]: Taking taylor expansion of phi1 in phi1
25.571 * [backup-simplify]: Simplify 0 into 0
25.571 * [backup-simplify]: Simplify 1 into 1
25.571 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.571 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.571 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
25.571 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.571 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.571 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.571 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.571 * [backup-simplify]: Simplify -0.5 into -0.5
25.571 * [taylor]: Taking taylor expansion of phi2 in phi1
25.571 * [backup-simplify]: Simplify phi2 into phi2
25.571 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.571 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.572 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.572 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.572 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.572 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.572 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.572 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.572 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.572 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.572 * [backup-simplify]: Simplify -0.5 into -0.5
25.572 * [taylor]: Taking taylor expansion of phi1 in phi1
25.572 * [backup-simplify]: Simplify 0 into 0
25.572 * [backup-simplify]: Simplify 1 into 1
25.572 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.572 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.572 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
25.572 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.572 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.572 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.572 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.572 * [backup-simplify]: Simplify -0.5 into -0.5
25.572 * [taylor]: Taking taylor expansion of phi2 in phi1
25.573 * [backup-simplify]: Simplify phi2 into phi2
25.573 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.573 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.573 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.573 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.573 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.573 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.573 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.573 * [backup-simplify]: Simplify -0.5 into -0.5
25.573 * [taylor]: Taking taylor expansion of phi1 in phi1
25.573 * [backup-simplify]: Simplify 0 into 0
25.573 * [backup-simplify]: Simplify 1 into 1
25.573 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.573 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.573 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.573 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.573 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.573 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.573 * [backup-simplify]: Simplify -0.5 into -0.5
25.573 * [taylor]: Taking taylor expansion of phi2 in phi1
25.573 * [backup-simplify]: Simplify phi2 into phi2
25.573 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.573 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.574 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.574 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.574 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.574 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.574 * [backup-simplify]: Simplify -0.5 into -0.5
25.574 * [taylor]: Taking taylor expansion of phi1 in phi1
25.574 * [backup-simplify]: Simplify 0 into 0
25.574 * [backup-simplify]: Simplify 1 into 1
25.574 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.574 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.574 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
25.574 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.574 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.574 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.574 * [backup-simplify]: Simplify -0.5 into -0.5
25.574 * [taylor]: Taking taylor expansion of phi2 in phi1
25.574 * [backup-simplify]: Simplify phi2 into phi2
25.574 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.574 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.574 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.574 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
25.574 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.574 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.574 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.574 * [backup-simplify]: Simplify -0.5 into -0.5
25.574 * [taylor]: Taking taylor expansion of phi1 in phi1
25.574 * [backup-simplify]: Simplify 0 into 0
25.574 * [backup-simplify]: Simplify 1 into 1
25.575 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.575 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.575 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
25.575 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.575 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.575 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.575 * [backup-simplify]: Simplify -0.5 into -0.5
25.575 * [taylor]: Taking taylor expansion of phi2 in phi1
25.575 * [backup-simplify]: Simplify phi2 into phi2
25.575 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.575 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.575 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.575 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.575 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.575 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.575 * [backup-simplify]: Simplify -0.5 into -0.5
25.575 * [taylor]: Taking taylor expansion of phi1 in phi1
25.575 * [backup-simplify]: Simplify 0 into 0
25.575 * [backup-simplify]: Simplify 1 into 1
25.576 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.576 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.576 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.576 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.576 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.577 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.577 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.577 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.577 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.578 * [backup-simplify]: Simplify (- 0) into 0
25.578 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.578 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.578 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.578 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.578 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.579 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
25.579 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
25.579 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.579 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.579 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.579 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.579 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.580 * [backup-simplify]: Simplify (- 0) into 0
25.580 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.580 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
25.580 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
25.580 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
25.581 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
25.581 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.583 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.584 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
25.585 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
25.585 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.586 * [backup-simplify]: Simplify (+ 0) into 0
25.586 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.586 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.587 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.587 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.587 * [backup-simplify]: Simplify (- 0) into 0
25.587 * [backup-simplify]: Simplify (+ 0 0) into 0
25.587 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.588 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.588 * [backup-simplify]: Simplify (+ 0) into 0
25.588 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.589 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.589 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.589 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.590 * [backup-simplify]: Simplify (+ 0 0) into 0
25.590 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.590 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.590 * [backup-simplify]: Simplify (+ 0 0) into 0
25.590 * [backup-simplify]: Simplify (+ 0) into 0
25.591 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.591 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.591 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.592 * [backup-simplify]: Simplify (+ 0 0) into 0
25.592 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.592 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
25.592 * [backup-simplify]: Simplify (+ 0) into 0
25.593 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.593 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.594 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.594 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.595 * [backup-simplify]: Simplify (- 0) into 0
25.595 * [backup-simplify]: Simplify (+ 0 0) into 0
25.595 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
25.596 * [backup-simplify]: Simplify (+ 0) into 0
25.596 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.596 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.597 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.597 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.598 * [backup-simplify]: Simplify (- 0) into 0
25.598 * [backup-simplify]: Simplify (+ 0 0) into 0
25.598 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.599 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
25.599 * [backup-simplify]: Simplify (+ 0) into 0
25.600 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.600 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.601 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.606 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.607 * [backup-simplify]: Simplify (+ 0 0) into 0
25.607 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
25.608 * [backup-simplify]: Simplify (+ 0 0) into 0
25.608 * [backup-simplify]: Simplify (- 0) into 0
25.608 * [backup-simplify]: Simplify (+ 0 0) into 0
25.611 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
25.613 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
25.613 * [taylor]: Taking taylor expansion of (+ (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2))))) in phi1
25.614 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2)))) in phi1
25.614 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.614 * [backup-simplify]: Simplify 1/2 into 1/2
25.614 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ 1 (pow phi1 2))) in phi1
25.614 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
25.614 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
25.614 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
25.614 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
25.615 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
25.615 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.615 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.615 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.615 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.615 * [backup-simplify]: Simplify -0.5 into -0.5
25.615 * [taylor]: Taking taylor expansion of phi2 in phi1
25.615 * [backup-simplify]: Simplify phi2 into phi2
25.615 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.615 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.615 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.615 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.615 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.615 * [backup-simplify]: Simplify (- 0) into 0
25.615 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.615 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.616 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.616 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.616 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.616 * [backup-simplify]: Simplify -0.5 into -0.5
25.616 * [taylor]: Taking taylor expansion of phi1 in phi1
25.616 * [backup-simplify]: Simplify 0 into 0
25.616 * [backup-simplify]: Simplify 1 into 1
25.616 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.616 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.616 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
25.616 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.616 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.616 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.616 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.616 * [backup-simplify]: Simplify -0.5 into -0.5
25.616 * [taylor]: Taking taylor expansion of phi2 in phi1
25.616 * [backup-simplify]: Simplify phi2 into phi2
25.616 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.616 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.616 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.616 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.617 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.617 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.617 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.617 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.617 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.617 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.617 * [backup-simplify]: Simplify -0.5 into -0.5
25.617 * [taylor]: Taking taylor expansion of phi1 in phi1
25.617 * [backup-simplify]: Simplify 0 into 0
25.617 * [backup-simplify]: Simplify 1 into 1
25.617 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.617 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.617 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
25.617 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.617 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.617 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.617 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.617 * [backup-simplify]: Simplify -0.5 into -0.5
25.617 * [taylor]: Taking taylor expansion of phi2 in phi1
25.617 * [backup-simplify]: Simplify phi2 into phi2
25.617 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.617 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.617 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.618 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.618 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.618 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.618 * [backup-simplify]: Simplify -0.5 into -0.5
25.618 * [taylor]: Taking taylor expansion of phi1 in phi1
25.618 * [backup-simplify]: Simplify 0 into 0
25.618 * [backup-simplify]: Simplify 1 into 1
25.618 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.618 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.618 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.618 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.618 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.618 * [backup-simplify]: Simplify -0.5 into -0.5
25.618 * [taylor]: Taking taylor expansion of phi2 in phi1
25.618 * [backup-simplify]: Simplify phi2 into phi2
25.618 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.618 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.618 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.618 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.618 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.618 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.618 * [backup-simplify]: Simplify -0.5 into -0.5
25.618 * [taylor]: Taking taylor expansion of phi1 in phi1
25.618 * [backup-simplify]: Simplify 0 into 0
25.618 * [backup-simplify]: Simplify 1 into 1
25.619 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.619 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
25.619 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.619 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.619 * [backup-simplify]: Simplify -0.5 into -0.5
25.619 * [taylor]: Taking taylor expansion of phi2 in phi1
25.619 * [backup-simplify]: Simplify phi2 into phi2
25.619 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.619 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.619 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.619 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
25.619 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.619 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.619 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.619 * [backup-simplify]: Simplify -0.5 into -0.5
25.619 * [taylor]: Taking taylor expansion of phi1 in phi1
25.619 * [backup-simplify]: Simplify 0 into 0
25.619 * [backup-simplify]: Simplify 1 into 1
25.620 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.620 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
25.620 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.620 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.620 * [backup-simplify]: Simplify -0.5 into -0.5
25.620 * [taylor]: Taking taylor expansion of phi2 in phi1
25.620 * [backup-simplify]: Simplify phi2 into phi2
25.620 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.620 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.620 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.620 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.620 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.620 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.620 * [backup-simplify]: Simplify -0.5 into -0.5
25.620 * [taylor]: Taking taylor expansion of phi1 in phi1
25.620 * [backup-simplify]: Simplify 0 into 0
25.620 * [backup-simplify]: Simplify 1 into 1
25.620 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.621 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.621 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.621 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.621 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.621 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.621 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.621 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.622 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.622 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.622 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.622 * [backup-simplify]: Simplify (- 0) into 0
25.622 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.623 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
25.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
25.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.623 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.623 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.623 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.624 * [backup-simplify]: Simplify (- 0) into 0
25.624 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.624 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
25.624 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
25.624 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
25.625 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
25.625 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.626 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.627 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
25.629 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
25.629 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.629 * [backup-simplify]: Simplify (+ 0) into 0
25.630 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.630 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.631 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.631 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.632 * [backup-simplify]: Simplify (- 0) into 0
25.632 * [backup-simplify]: Simplify (+ 0 0) into 0
25.632 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.633 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.633 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.634 * [backup-simplify]: Simplify (+ 0) into 0
25.634 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.634 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.635 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.636 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.636 * [backup-simplify]: Simplify (+ 0 0) into 0
25.636 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.637 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.637 * [backup-simplify]: Simplify (+ 0 0) into 0
25.638 * [backup-simplify]: Simplify (+ 0) into 0
25.638 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.638 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.639 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.640 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.640 * [backup-simplify]: Simplify (+ 0 0) into 0
25.640 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
25.641 * [backup-simplify]: Simplify (+ 0) into 0
25.641 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.642 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.642 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.643 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.643 * [backup-simplify]: Simplify (- 0) into 0
25.644 * [backup-simplify]: Simplify (+ 0 0) into 0
25.644 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
25.644 * [backup-simplify]: Simplify (+ 0) into 0
25.645 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.645 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.646 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.646 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.647 * [backup-simplify]: Simplify (- 0) into 0
25.647 * [backup-simplify]: Simplify (+ 0 0) into 0
25.647 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
25.648 * [backup-simplify]: Simplify (+ 0) into 0
25.648 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.649 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.649 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.650 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.651 * [backup-simplify]: Simplify (+ 0 0) into 0
25.651 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
25.651 * [backup-simplify]: Simplify (+ 0 0) into 0
25.652 * [backup-simplify]: Simplify (- 0) into 0
25.652 * [backup-simplify]: Simplify (+ 0 0) into 0
25.657 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
25.659 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
25.659 * [taylor]: Taking taylor expansion of (/ 1 (pow phi1 2)) in phi1
25.659 * [taylor]: Taking taylor expansion of (pow phi1 2) in phi1
25.659 * [taylor]: Taking taylor expansion of phi1 in phi1
25.660 * [backup-simplify]: Simplify 0 into 0
25.660 * [backup-simplify]: Simplify 1 into 1
25.660 * [backup-simplify]: Simplify (* 1 1) into 1
25.661 * [backup-simplify]: Simplify (/ 1 1) into 1
25.661 * [taylor]: Taking taylor expansion of (* 1/2 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2)))) in phi1
25.661 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.661 * [backup-simplify]: Simplify 1/2 into 1/2
25.661 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2))) in phi1
25.661 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
25.661 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
25.661 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
25.661 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
25.661 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
25.661 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.661 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.661 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.661 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.661 * [backup-simplify]: Simplify -0.5 into -0.5
25.661 * [taylor]: Taking taylor expansion of phi2 in phi1
25.661 * [backup-simplify]: Simplify phi2 into phi2
25.662 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.662 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.662 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.662 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.662 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.662 * [backup-simplify]: Simplify (- 0) into 0
25.663 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.663 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.663 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.663 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.663 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.663 * [backup-simplify]: Simplify -0.5 into -0.5
25.663 * [taylor]: Taking taylor expansion of phi1 in phi1
25.663 * [backup-simplify]: Simplify 0 into 0
25.663 * [backup-simplify]: Simplify 1 into 1
25.663 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.663 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.663 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
25.664 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.664 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.664 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.664 * [backup-simplify]: Simplify -0.5 into -0.5
25.664 * [taylor]: Taking taylor expansion of phi2 in phi1
25.664 * [backup-simplify]: Simplify phi2 into phi2
25.664 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.664 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.664 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.664 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.664 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.664 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.664 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.664 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.664 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.664 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.665 * [backup-simplify]: Simplify -0.5 into -0.5
25.665 * [taylor]: Taking taylor expansion of phi1 in phi1
25.665 * [backup-simplify]: Simplify 0 into 0
25.665 * [backup-simplify]: Simplify 1 into 1
25.665 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.665 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.665 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
25.665 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.665 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.665 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.665 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.665 * [backup-simplify]: Simplify -0.5 into -0.5
25.665 * [taylor]: Taking taylor expansion of phi2 in phi1
25.666 * [backup-simplify]: Simplify phi2 into phi2
25.666 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.666 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.666 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.666 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.666 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.666 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.666 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.666 * [backup-simplify]: Simplify -0.5 into -0.5
25.666 * [taylor]: Taking taylor expansion of phi1 in phi1
25.666 * [backup-simplify]: Simplify 0 into 0
25.666 * [backup-simplify]: Simplify 1 into 1
25.667 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.667 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.667 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.667 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.667 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.667 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.667 * [backup-simplify]: Simplify -0.5 into -0.5
25.667 * [taylor]: Taking taylor expansion of phi2 in phi1
25.667 * [backup-simplify]: Simplify phi2 into phi2
25.667 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.667 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.667 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.667 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.667 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.667 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.667 * [backup-simplify]: Simplify -0.5 into -0.5
25.667 * [taylor]: Taking taylor expansion of phi1 in phi1
25.667 * [backup-simplify]: Simplify 0 into 0
25.667 * [backup-simplify]: Simplify 1 into 1
25.668 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.668 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.668 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
25.668 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.668 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.668 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.668 * [backup-simplify]: Simplify -0.5 into -0.5
25.668 * [taylor]: Taking taylor expansion of phi2 in phi1
25.668 * [backup-simplify]: Simplify phi2 into phi2
25.668 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.668 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.669 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.669 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
25.669 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.669 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.669 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.669 * [backup-simplify]: Simplify -0.5 into -0.5
25.669 * [taylor]: Taking taylor expansion of phi1 in phi1
25.669 * [backup-simplify]: Simplify 0 into 0
25.669 * [backup-simplify]: Simplify 1 into 1
25.669 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.669 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.669 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
25.669 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.669 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.670 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.670 * [backup-simplify]: Simplify -0.5 into -0.5
25.670 * [taylor]: Taking taylor expansion of phi2 in phi1
25.670 * [backup-simplify]: Simplify phi2 into phi2
25.670 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.670 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.670 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.670 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.670 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.670 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.670 * [backup-simplify]: Simplify -0.5 into -0.5
25.670 * [taylor]: Taking taylor expansion of phi1 in phi1
25.670 * [backup-simplify]: Simplify 0 into 0
25.670 * [backup-simplify]: Simplify 1 into 1
25.671 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.671 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.671 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.671 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.672 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.672 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.672 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.672 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.673 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.673 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.673 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.674 * [backup-simplify]: Simplify (- 0) into 0
25.674 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.674 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.674 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.674 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.675 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
25.675 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
25.675 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.675 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.675 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.676 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.676 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.676 * [backup-simplify]: Simplify (- 0) into 0
25.676 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.676 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
25.677 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
25.677 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
25.678 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
25.679 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.681 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.683 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
25.685 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
25.686 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.686 * [backup-simplify]: Simplify (+ 0) into 0
25.687 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.687 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.688 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.688 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.689 * [backup-simplify]: Simplify (- 0) into 0
25.689 * [backup-simplify]: Simplify (+ 0 0) into 0
25.689 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.690 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.690 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.690 * [backup-simplify]: Simplify (+ 0) into 0
25.691 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.691 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.692 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.692 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.693 * [backup-simplify]: Simplify (+ 0 0) into 0
25.693 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.693 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.694 * [backup-simplify]: Simplify (+ 0 0) into 0
25.694 * [backup-simplify]: Simplify (+ 0) into 0
25.695 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.695 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.696 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.696 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.697 * [backup-simplify]: Simplify (+ 0 0) into 0
25.697 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
25.697 * [backup-simplify]: Simplify (+ 0) into 0
25.697 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.698 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.698 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.698 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.699 * [backup-simplify]: Simplify (- 0) into 0
25.699 * [backup-simplify]: Simplify (+ 0 0) into 0
25.699 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
25.699 * [backup-simplify]: Simplify (+ 0) into 0
25.700 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.700 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.700 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.701 * [backup-simplify]: Simplify (- 0) into 0
25.701 * [backup-simplify]: Simplify (+ 0 0) into 0
25.701 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.701 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
25.702 * [backup-simplify]: Simplify (+ 0) into 0
25.702 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.702 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.703 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.703 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.703 * [backup-simplify]: Simplify (+ 0 0) into 0
25.703 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
25.704 * [backup-simplify]: Simplify (+ 0 0) into 0
25.704 * [backup-simplify]: Simplify (- 0) into 0
25.704 * [backup-simplify]: Simplify (+ 0 0) into 0
25.706 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
25.708 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
25.708 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2)) in phi1
25.708 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) in phi1
25.708 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.708 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.708 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.708 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.708 * [backup-simplify]: Simplify -0.5 into -0.5
25.708 * [taylor]: Taking taylor expansion of phi1 in phi1
25.708 * [backup-simplify]: Simplify 0 into 0
25.708 * [backup-simplify]: Simplify 1 into 1
25.708 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.708 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.708 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.708 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.708 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.708 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.708 * [backup-simplify]: Simplify -0.5 into -0.5
25.708 * [taylor]: Taking taylor expansion of phi2 in phi1
25.708 * [backup-simplify]: Simplify phi2 into phi2
25.708 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.709 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.709 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.709 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.709 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.709 * [backup-simplify]: Simplify (- 0) into 0
25.709 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.709 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
25.709 * [taylor]: Taking taylor expansion of lambda1 in phi1
25.709 * [backup-simplify]: Simplify lambda1 into lambda1
25.709 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.709 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.710 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) into (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2))
25.710 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
25.710 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi1)) 2) (pow (cos (/ -0.5 phi2)) 2)) (pow lambda1 2))
25.710 * [taylor]: Taking taylor expansion of (+ (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3)))))) in phi1
25.710 * [taylor]: Taking taylor expansion of (* (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) in phi1
25.710 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi1
25.710 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.710 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.710 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.710 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.710 * [backup-simplify]: Simplify -0.5 into -0.5
25.710 * [taylor]: Taking taylor expansion of phi2 in phi1
25.710 * [backup-simplify]: Simplify phi2 into phi2
25.710 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.711 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.711 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.711 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.711 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.711 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.711 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.711 * [backup-simplify]: Simplify -0.5 into -0.5
25.711 * [taylor]: Taking taylor expansion of phi1 in phi1
25.711 * [backup-simplify]: Simplify 0 into 0
25.711 * [backup-simplify]: Simplify 1 into 1
25.711 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.711 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.711 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.711 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.711 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.711 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.711 * [backup-simplify]: Simplify -0.5 into -0.5
25.711 * [taylor]: Taking taylor expansion of phi2 in phi1
25.711 * [backup-simplify]: Simplify phi2 into phi2
25.711 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.711 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.711 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.711 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.711 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.712 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.712 * [backup-simplify]: Simplify -0.5 into -0.5
25.712 * [taylor]: Taking taylor expansion of phi1 in phi1
25.712 * [backup-simplify]: Simplify 0 into 0
25.712 * [backup-simplify]: Simplify 1 into 1
25.712 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.712 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.712 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
25.712 * [taylor]: Taking taylor expansion of lambda1 in phi1
25.712 * [backup-simplify]: Simplify lambda1 into lambda1
25.712 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.712 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.712 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.712 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.712 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.713 * [backup-simplify]: Simplify (- 0) into 0
25.713 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.713 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.713 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
25.713 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
25.713 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
25.714 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
25.714 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) in phi1
25.714 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) in phi1
25.714 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
25.714 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
25.714 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
25.714 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.714 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.714 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.714 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.714 * [backup-simplify]: Simplify -0.5 into -0.5
25.714 * [taylor]: Taking taylor expansion of phi2 in phi1
25.714 * [backup-simplify]: Simplify phi2 into phi2
25.714 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.714 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.714 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.714 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.714 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.714 * [backup-simplify]: Simplify (- 0) into 0
25.715 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.715 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.715 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.715 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.715 * [backup-simplify]: Simplify -0.5 into -0.5
25.715 * [taylor]: Taking taylor expansion of phi1 in phi1
25.715 * [backup-simplify]: Simplify 0 into 0
25.715 * [backup-simplify]: Simplify 1 into 1
25.715 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.715 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.715 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
25.715 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.715 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.715 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.715 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.715 * [backup-simplify]: Simplify -0.5 into -0.5
25.715 * [taylor]: Taking taylor expansion of phi2 in phi1
25.715 * [backup-simplify]: Simplify phi2 into phi2
25.715 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.715 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.716 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.716 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.716 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.716 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.716 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.716 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.716 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.716 * [backup-simplify]: Simplify -0.5 into -0.5
25.716 * [taylor]: Taking taylor expansion of phi1 in phi1
25.716 * [backup-simplify]: Simplify 0 into 0
25.716 * [backup-simplify]: Simplify 1 into 1
25.716 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.716 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.716 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
25.716 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.716 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.716 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.716 * [backup-simplify]: Simplify -0.5 into -0.5
25.716 * [taylor]: Taking taylor expansion of phi2 in phi1
25.716 * [backup-simplify]: Simplify phi2 into phi2
25.716 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.717 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.717 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.717 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.717 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.717 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.717 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.717 * [backup-simplify]: Simplify -0.5 into -0.5
25.717 * [taylor]: Taking taylor expansion of phi1 in phi1
25.717 * [backup-simplify]: Simplify 0 into 0
25.717 * [backup-simplify]: Simplify 1 into 1
25.717 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.717 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.717 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.717 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.717 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.717 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.717 * [backup-simplify]: Simplify -0.5 into -0.5
25.717 * [taylor]: Taking taylor expansion of phi2 in phi1
25.717 * [backup-simplify]: Simplify phi2 into phi2
25.717 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.717 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.717 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.717 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.717 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.717 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.717 * [backup-simplify]: Simplify -0.5 into -0.5
25.717 * [taylor]: Taking taylor expansion of phi1 in phi1
25.717 * [backup-simplify]: Simplify 0 into 0
25.718 * [backup-simplify]: Simplify 1 into 1
25.718 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.718 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
25.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.718 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.718 * [backup-simplify]: Simplify -0.5 into -0.5
25.718 * [taylor]: Taking taylor expansion of phi2 in phi1
25.718 * [backup-simplify]: Simplify phi2 into phi2
25.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.718 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
25.718 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.718 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.718 * [backup-simplify]: Simplify -0.5 into -0.5
25.718 * [taylor]: Taking taylor expansion of phi1 in phi1
25.718 * [backup-simplify]: Simplify 0 into 0
25.718 * [backup-simplify]: Simplify 1 into 1
25.719 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.719 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
25.719 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.719 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.719 * [backup-simplify]: Simplify -0.5 into -0.5
25.719 * [taylor]: Taking taylor expansion of phi2 in phi1
25.719 * [backup-simplify]: Simplify phi2 into phi2
25.719 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.719 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.719 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.719 * [backup-simplify]: Simplify -0.5 into -0.5
25.719 * [taylor]: Taking taylor expansion of phi1 in phi1
25.719 * [backup-simplify]: Simplify 0 into 0
25.719 * [backup-simplify]: Simplify 1 into 1
25.719 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.720 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.720 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.720 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.721 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.721 * [backup-simplify]: Simplify (- 0) into 0
25.721 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.722 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
25.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
25.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.722 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.722 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.723 * [backup-simplify]: Simplify (- 0) into 0
25.723 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
25.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
25.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
25.724 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
25.724 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.725 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.726 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))
25.727 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
25.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.728 * [backup-simplify]: Simplify (+ 0) into 0
25.728 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.728 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.729 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.729 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.730 * [backup-simplify]: Simplify (- 0) into 0
25.730 * [backup-simplify]: Simplify (+ 0 0) into 0
25.730 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.730 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.730 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.731 * [backup-simplify]: Simplify (+ 0) into 0
25.731 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.731 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.731 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.732 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.732 * [backup-simplify]: Simplify (+ 0 0) into 0
25.732 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.732 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.733 * [backup-simplify]: Simplify (+ 0 0) into 0
25.733 * [backup-simplify]: Simplify (+ 0) into 0
25.733 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.733 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.734 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.734 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.734 * [backup-simplify]: Simplify (+ 0 0) into 0
25.735 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
25.735 * [backup-simplify]: Simplify (+ 0) into 0
25.735 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.735 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.736 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.736 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.736 * [backup-simplify]: Simplify (- 0) into 0
25.737 * [backup-simplify]: Simplify (+ 0 0) into 0
25.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
25.737 * [backup-simplify]: Simplify (+ 0) into 0
25.737 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.738 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.738 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.738 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.739 * [backup-simplify]: Simplify (- 0) into 0
25.739 * [backup-simplify]: Simplify (+ 0 0) into 0
25.739 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.739 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
25.739 * [backup-simplify]: Simplify (+ 0) into 0
25.740 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.740 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.740 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.741 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.741 * [backup-simplify]: Simplify (+ 0 0) into 0
25.741 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
25.741 * [backup-simplify]: Simplify (+ 0 0) into 0
25.742 * [backup-simplify]: Simplify (- 0) into 0
25.742 * [backup-simplify]: Simplify (+ 0 0) into 0
25.744 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))))) into 0
25.745 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
25.745 * [taylor]: Taking taylor expansion of (* 1/2 (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3))))) in phi1
25.745 * [taylor]: Taking taylor expansion of 1/2 in phi1
25.745 * [backup-simplify]: Simplify 1/2 into 1/2
25.745 * [taylor]: Taking taylor expansion of (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3)))) in phi1
25.746 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) in phi1
25.746 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) in phi1
25.746 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
25.746 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
25.746 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.746 * [backup-simplify]: Simplify -0.5 into -0.5
25.746 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
25.746 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
25.746 * [taylor]: Taking taylor expansion of phi1 in phi1
25.746 * [backup-simplify]: Simplify 0 into 0
25.746 * [backup-simplify]: Simplify 1 into 1
25.751 * [backup-simplify]: Simplify (/ 1 1) into 1
25.751 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
25.752 * [taylor]: Taking taylor expansion of phi2 in phi1
25.752 * [backup-simplify]: Simplify phi2 into phi2
25.752 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
25.752 * [backup-simplify]: Simplify (+ 1 0) into 1
25.753 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
25.753 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.753 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
25.753 * [taylor]: Taking taylor expansion of lambda1 in phi1
25.753 * [backup-simplify]: Simplify lambda1 into lambda1
25.754 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
25.754 * [backup-simplify]: Simplify (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4)
25.754 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
25.755 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 4) (pow lambda1 2))
25.755 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3))) in phi1
25.755 * [taylor]: Taking taylor expansion of (/ 1 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3)) in phi1
25.755 * [taylor]: Taking taylor expansion of (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) 3) in phi1
25.755 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi1
25.755 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
25.755 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
25.755 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
25.755 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.755 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.755 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.755 * [backup-simplify]: Simplify -0.5 into -0.5
25.755 * [taylor]: Taking taylor expansion of phi2 in phi1
25.755 * [backup-simplify]: Simplify phi2 into phi2
25.755 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.756 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.756 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.756 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.756 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.756 * [backup-simplify]: Simplify (- 0) into 0
25.757 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.757 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
25.757 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.757 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.757 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.757 * [backup-simplify]: Simplify -0.5 into -0.5
25.757 * [taylor]: Taking taylor expansion of phi1 in phi1
25.757 * [backup-simplify]: Simplify 0 into 0
25.757 * [backup-simplify]: Simplify 1 into 1
25.757 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.757 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.757 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
25.757 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
25.758 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.758 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.758 * [backup-simplify]: Simplify -0.5 into -0.5
25.758 * [taylor]: Taking taylor expansion of phi2 in phi1
25.758 * [backup-simplify]: Simplify phi2 into phi2
25.758 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.758 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.758 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.758 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.758 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.758 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.758 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
25.758 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.758 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.758 * [backup-simplify]: Simplify -0.5 into -0.5
25.759 * [taylor]: Taking taylor expansion of phi1 in phi1
25.759 * [backup-simplify]: Simplify 0 into 0
25.759 * [backup-simplify]: Simplify 1 into 1
25.759 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.759 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi1
25.759 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
25.759 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.759 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.759 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.759 * [backup-simplify]: Simplify -0.5 into -0.5
25.759 * [taylor]: Taking taylor expansion of phi2 in phi1
25.759 * [backup-simplify]: Simplify phi2 into phi2
25.760 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.760 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.760 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.760 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
25.760 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.760 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.760 * [backup-simplify]: Simplify -0.5 into -0.5
25.760 * [taylor]: Taking taylor expansion of phi1 in phi1
25.760 * [backup-simplify]: Simplify 0 into 0
25.760 * [backup-simplify]: Simplify 1 into 1
25.761 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.761 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
25.761 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.761 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.761 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.761 * [backup-simplify]: Simplify -0.5 into -0.5
25.761 * [taylor]: Taking taylor expansion of phi2 in phi1
25.761 * [backup-simplify]: Simplify phi2 into phi2
25.761 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.761 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.761 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.762 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.762 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.762 * [backup-simplify]: Simplify -0.5 into -0.5
25.762 * [taylor]: Taking taylor expansion of phi1 in phi1
25.762 * [backup-simplify]: Simplify 0 into 0
25.762 * [backup-simplify]: Simplify 1 into 1
25.762 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.762 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.762 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
25.762 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
25.762 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.762 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.762 * [backup-simplify]: Simplify -0.5 into -0.5
25.763 * [taylor]: Taking taylor expansion of phi2 in phi1
25.763 * [backup-simplify]: Simplify phi2 into phi2
25.763 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.763 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.763 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.763 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
25.763 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
25.763 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.763 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.763 * [backup-simplify]: Simplify -0.5 into -0.5
25.763 * [taylor]: Taking taylor expansion of phi1 in phi1
25.763 * [backup-simplify]: Simplify 0 into 0
25.763 * [backup-simplify]: Simplify 1 into 1
25.764 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.764 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
25.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
25.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
25.764 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.764 * [backup-simplify]: Simplify -0.5 into -0.5
25.764 * [taylor]: Taking taylor expansion of phi2 in phi1
25.764 * [backup-simplify]: Simplify phi2 into phi2
25.764 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.764 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.764 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
25.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
25.764 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.764 * [backup-simplify]: Simplify -0.5 into -0.5
25.764 * [taylor]: Taking taylor expansion of phi1 in phi1
25.764 * [backup-simplify]: Simplify 0 into 0
25.764 * [backup-simplify]: Simplify 1 into 1
25.765 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
25.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.766 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.766 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.767 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.768 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.768 * [backup-simplify]: Simplify (- 0) into 0
25.768 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.768 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.769 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.769 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
25.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
25.769 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
25.770 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.770 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.770 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.770 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.771 * [backup-simplify]: Simplify (- 0) into 0
25.771 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
25.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
25.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
25.772 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
25.773 * [backup-simplify]: Simplify (- (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.776 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
25.780 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 2)
25.784 * [backup-simplify]: Simplify (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 2)) into (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 2))
25.789 * [backup-simplify]: Simplify (/ 1 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 2))) into (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
25.791 * [backup-simplify]: Simplify (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))
25.791 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.792 * [backup-simplify]: Simplify (+ 0) into 0
25.792 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.792 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.793 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.793 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.794 * [backup-simplify]: Simplify (- 0) into 0
25.794 * [backup-simplify]: Simplify (+ 0 0) into 0
25.794 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.794 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.794 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.795 * [backup-simplify]: Simplify (+ 0) into 0
25.795 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.795 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.795 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.796 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.796 * [backup-simplify]: Simplify (+ 0 0) into 0
25.796 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.796 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.797 * [backup-simplify]: Simplify (+ 0 0) into 0
25.797 * [backup-simplify]: Simplify (+ 0) into 0
25.797 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.797 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.798 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.798 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.798 * [backup-simplify]: Simplify (+ 0 0) into 0
25.798 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
25.799 * [backup-simplify]: Simplify (+ 0) into 0
25.799 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.799 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.800 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.800 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.800 * [backup-simplify]: Simplify (- 0) into 0
25.801 * [backup-simplify]: Simplify (+ 0 0) into 0
25.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
25.801 * [backup-simplify]: Simplify (+ 0) into 0
25.801 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.802 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.802 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.802 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.803 * [backup-simplify]: Simplify (- 0) into 0
25.803 * [backup-simplify]: Simplify (+ 0 0) into 0
25.803 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.803 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
25.803 * [backup-simplify]: Simplify (+ 0) into 0
25.804 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.804 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.804 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.805 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.805 * [backup-simplify]: Simplify (+ 0 0) into 0
25.805 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
25.805 * [backup-simplify]: Simplify (+ 0 0) into 0
25.806 * [backup-simplify]: Simplify (- 0) into 0
25.806 * [backup-simplify]: Simplify (+ 0 0) into 0
25.809 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 0) (* 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) into 0
25.811 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 0) (* 0 (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 2))) into 0
25.817 * [backup-simplify]: Simplify (- (+ (* (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ 0 (* (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) 2)))))) into 0
25.819 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (* (pow (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) 2) (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))))) into 0
25.820 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
25.820 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
25.824 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 0) (* 0 1)) into 0
25.826 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 1) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))))))
25.829 * [backup-simplify]: Simplify (+ (* 1/2 0) (* 0 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))))) into 0
25.829 * [backup-simplify]: Simplify (+ 0 0) into 0
25.830 * [backup-simplify]: Simplify (+ 0 0) into 0
25.830 * [backup-simplify]: Simplify (+ 0 0) into 0
25.830 * [taylor]: Taking taylor expansion of 0 in lambda1
25.830 * [backup-simplify]: Simplify 0 into 0
25.831 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
25.831 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
25.834 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
25.837 * [backup-simplify]: Simplify (+ (* -1 0) (* 0 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into 0
25.837 * [taylor]: Taking taylor expansion of 0 in phi1
25.837 * [backup-simplify]: Simplify 0 into 0
25.838 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.839 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.839 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.840 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.841 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.841 * [backup-simplify]: Simplify (- 0) into 0
25.842 * [backup-simplify]: Simplify (+ 0 0) into 0
25.842 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
25.843 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
25.844 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
25.844 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.845 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.845 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.846 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.846 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.846 * [backup-simplify]: Simplify (+ 0 0) into 0
25.846 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
25.847 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
25.847 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
25.848 * [backup-simplify]: Simplify (+ 0 0) into 0
25.848 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.849 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.849 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.849 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.850 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.850 * [backup-simplify]: Simplify (+ 0 0) into 0
25.850 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.851 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.851 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.851 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.852 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.852 * [backup-simplify]: Simplify (- 0) into 0
25.852 * [backup-simplify]: Simplify (+ 0 0) into 0
25.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
25.853 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
25.853 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into 0
25.854 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.854 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.855 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.855 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.855 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.856 * [backup-simplify]: Simplify (- 0) into 0
25.856 * [backup-simplify]: Simplify (+ 0 0) into 0
25.856 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
25.857 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
25.857 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
25.857 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.858 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
25.858 * [backup-simplify]: Simplify (+ 0 0) into 0
25.858 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
25.859 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
25.859 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into 0
25.859 * [backup-simplify]: Simplify (+ 0 0) into 0
25.860 * [backup-simplify]: Simplify (- 0) into 0
25.860 * [backup-simplify]: Simplify (+ 0 0) into 0
25.861 * [backup-simplify]: Simplify (/ (- 0 (pow 0 2) (+)) (* 2 (sqrt (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))))) into 0
25.862 * [taylor]: Taking taylor expansion of 0 in phi1
25.862 * [backup-simplify]: Simplify 0 into 0
25.862 * [backup-simplify]: Simplify (- (+ (* 1 (/ 0 1)))) into 0
25.864 * [backup-simplify]: Simplify (+ (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) 0) (* 0 1)) into 0
25.864 * [backup-simplify]: Simplify (- 0) into 0
25.864 * [taylor]: Taking taylor expansion of 0 in lambda1
25.864 * [backup-simplify]: Simplify 0 into 0
25.865 * [backup-simplify]: Simplify (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))))) into (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
25.867 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
25.867 * [taylor]: Taking taylor expansion of (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1
25.867 * [taylor]: Taking taylor expansion of -1 in lambda1
25.867 * [backup-simplify]: Simplify -1 into -1
25.867 * [taylor]: Taking taylor expansion of (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1
25.867 * [taylor]: Taking taylor expansion of (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))))) in lambda1
25.867 * [taylor]: Taking taylor expansion of (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) in lambda1
25.867 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in lambda1
25.867 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
25.867 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
25.867 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
25.867 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.867 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.867 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.867 * [backup-simplify]: Simplify -0.5 into -0.5
25.867 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.867 * [backup-simplify]: Simplify phi2 into phi2
25.867 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.867 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.867 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.868 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.868 * [backup-simplify]: Simplify (- 0) into 0
25.868 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.868 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
25.868 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.868 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.868 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.868 * [backup-simplify]: Simplify -0.5 into -0.5
25.868 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.868 * [backup-simplify]: Simplify phi1 into phi1
25.868 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.868 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.868 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.869 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.869 * [backup-simplify]: Simplify (- 0) into 0
25.869 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.869 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
25.869 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
25.869 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.869 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.869 * [backup-simplify]: Simplify -0.5 into -0.5
25.869 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.869 * [backup-simplify]: Simplify phi2 into phi2
25.869 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.869 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.869 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.869 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.869 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
25.869 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.870 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.870 * [backup-simplify]: Simplify -0.5 into -0.5
25.870 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.870 * [backup-simplify]: Simplify phi1 into phi1
25.870 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.870 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.870 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.870 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.870 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.870 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.870 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in lambda1
25.870 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in lambda1
25.870 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.870 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.870 * [backup-simplify]: Simplify -0.5 into -0.5
25.870 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.870 * [backup-simplify]: Simplify phi2 into phi2
25.870 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.870 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.870 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.870 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in lambda1
25.870 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.870 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.870 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.870 * [backup-simplify]: Simplify -0.5 into -0.5
25.870 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.870 * [backup-simplify]: Simplify phi1 into phi1
25.870 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.870 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.871 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.871 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in lambda1
25.871 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.871 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.871 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.871 * [backup-simplify]: Simplify -0.5 into -0.5
25.871 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.871 * [backup-simplify]: Simplify phi1 into phi1
25.871 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.871 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.871 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.871 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.871 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.871 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.871 * [backup-simplify]: Simplify -0.5 into -0.5
25.871 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.871 * [backup-simplify]: Simplify phi2 into phi2
25.871 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.871 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.872 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in lambda1
25.872 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
25.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.872 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.872 * [backup-simplify]: Simplify -0.5 into -0.5
25.872 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.872 * [backup-simplify]: Simplify phi2 into phi2
25.872 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.872 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in lambda1
25.872 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
25.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.872 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.872 * [backup-simplify]: Simplify -0.5 into -0.5
25.872 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.872 * [backup-simplify]: Simplify phi1 into phi1
25.872 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.872 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in lambda1
25.872 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
25.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
25.872 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.872 * [backup-simplify]: Simplify -0.5 into -0.5
25.872 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.872 * [backup-simplify]: Simplify phi1 into phi1
25.872 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
25.872 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
25.872 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
25.872 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
25.872 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
25.872 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.872 * [backup-simplify]: Simplify -0.5 into -0.5
25.872 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.873 * [backup-simplify]: Simplify phi2 into phi2
25.873 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
25.873 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
25.873 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
25.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
25.873 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
25.873 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
25.873 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
25.873 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
25.874 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
25.874 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
25.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.874 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.875 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.875 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.875 * [backup-simplify]: Simplify (- 0) into 0
25.875 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.875 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.876 * [backup-simplify]: Simplify (- 0) into 0
25.876 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
25.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
25.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
25.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
25.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
25.877 * [backup-simplify]: Simplify (- 0) into 0
25.877 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
25.877 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
25.877 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
25.878 * [backup-simplify]: Simplify (- 0) into 0
25.878 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
25.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
25.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
25.878 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
25.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
25.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
25.878 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
25.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))
25.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
25.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
25.880 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
25.881 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
25.884 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
25.886 * [backup-simplify]: Simplify (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))
25.888 * [backup-simplify]: Simplify (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))) into (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))
25.889 * [backup-simplify]: Simplify (+ 0) into 0
25.890 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.890 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.891 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.891 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.892 * [backup-simplify]: Simplify (- 0) into 0
25.892 * [backup-simplify]: Simplify (+ 0 0) into 0
25.892 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
25.893 * [backup-simplify]: Simplify (+ 0) into 0
25.893 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.893 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.894 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.899 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.900 * [backup-simplify]: Simplify (- 0) into 0
25.900 * [backup-simplify]: Simplify (+ 0 0) into 0
25.900 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.900 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
25.901 * [backup-simplify]: Simplify (+ 0) into 0
25.901 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.901 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.902 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.902 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.902 * [backup-simplify]: Simplify (+ 0 0) into 0
25.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
25.903 * [backup-simplify]: Simplify (+ 0) into 0
25.903 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.903 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.904 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.904 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.904 * [backup-simplify]: Simplify (+ 0 0) into 0
25.905 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.905 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
25.906 * [backup-simplify]: Simplify (+ 0 0) into 0
25.908 * [backup-simplify]: Simplify (+ 0) into 0
25.909 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.909 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.909 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.910 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.910 * [backup-simplify]: Simplify (- 0) into 0
25.910 * [backup-simplify]: Simplify (+ 0 0) into 0
25.910 * [backup-simplify]: Simplify (+ 0) into 0
25.911 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.911 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.912 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.912 * [backup-simplify]: Simplify (- 0) into 0
25.912 * [backup-simplify]: Simplify (+ 0 0) into 0
25.913 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
25.913 * [backup-simplify]: Simplify (+ 0) into 0
25.913 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.913 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.914 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.914 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.914 * [backup-simplify]: Simplify (+ 0 0) into 0
25.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0
25.915 * [backup-simplify]: Simplify (+ 0) into 0
25.915 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.915 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.916 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.916 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.916 * [backup-simplify]: Simplify (+ 0 0) into 0
25.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
25.917 * [backup-simplify]: Simplify (+ 0) into 0
25.917 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.917 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.918 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.918 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.918 * [backup-simplify]: Simplify (+ 0 0) into 0
25.919 * [backup-simplify]: Simplify (+ 0) into 0
25.919 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.919 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.920 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.920 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.920 * [backup-simplify]: Simplify (+ 0 0) into 0
25.920 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
25.920 * [backup-simplify]: Simplify (+ 0) into 0
25.921 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
25.921 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
25.922 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.922 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
25.922 * [backup-simplify]: Simplify (- 0) into 0
25.922 * [backup-simplify]: Simplify (+ 0 0) into 0
25.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0
25.923 * [backup-simplify]: Simplify (+ 0) into 0
25.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
25.923 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
25.924 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
25.924 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
25.924 * [backup-simplify]: Simplify (- 0) into 0
25.925 * [backup-simplify]: Simplify (+ 0 0) into 0
25.925 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
25.925 * [backup-simplify]: Simplify (+ 0 0) into 0
25.925 * [backup-simplify]: Simplify (- 0) into 0
25.926 * [backup-simplify]: Simplify (+ 0 0) into 0
25.928 * [backup-simplify]: Simplify (- (+ (* (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))) (/ 0 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))) into 0
25.929 * [backup-simplify]: Simplify (/ 0 (* 2 (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into 0
25.930 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1
25.930 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
25.930 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
25.930 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
25.930 * [taylor]: Taking taylor expansion of -0.5 in lambda1
25.930 * [backup-simplify]: Simplify -0.5 into -0.5
25.930 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
25.930 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
25.930 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.930 * [backup-simplify]: Simplify phi1 into phi1
25.930 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
25.930 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
25.930 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.930 * [backup-simplify]: Simplify phi2 into phi2
25.930 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
25.930 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
25.930 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
25.930 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.930 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.930 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.930 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
25.931 * [backup-simplify]: Simplify (- 0) into 0
25.931 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.931 * [taylor]: Taking taylor expansion of lambda1 in lambda1
25.931 * [backup-simplify]: Simplify 0 into 0
25.931 * [backup-simplify]: Simplify 1 into 1
25.931 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
25.931 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
25.933 * [backup-simplify]: Simplify (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
25.934 * [backup-simplify]: Simplify (* -1 (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))) into (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
25.936 * [backup-simplify]: Simplify (* -1 (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))) (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (* -1 (* (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))))
25.936 * [taylor]: Taking taylor expansion of 0 in lambda1
25.936 * [backup-simplify]: Simplify 0 into 0
25.936 * [taylor]: Taking taylor expansion of 0 in lambda1
25.936 * [backup-simplify]: Simplify 0 into 0
25.938 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))))))
25.940 * [backup-simplify]: Simplify (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))))) into (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))))))
25.956 * [backup-simplify]: Simplify (+ (* (- (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1)))))))))))) (* 1 (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (/ 1 (- lambda2)))))) (+ (* (* -1 (* (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))))))))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1)))) (* (- (* (sqrt (/ 1 (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi1))))))))))) (/ (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (sin (/ -0.5 (/ 1 (- phi2))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (cos (/ -0.5 (/ 1 (- phi2)))))))))))) (* (/ 1 (/ 1 (- lambda1))) (* (/ 1 (/ 1 (- phi1))) (* (/ 1 (/ 1 (- phi2))) (pow (/ 1 (- lambda2)) 2))))))) into (+ (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (* (/ (* phi2 (* lambda1 (* phi1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))))))
25.956 * * * * [progress]: [ 2 / 4 ] generating series at (2 2 1 1 2 2 2 1 1)
25.956 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
25.956 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in (phi2 phi1) around 0
25.956 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
25.956 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
25.957 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.957 * [backup-simplify]: Simplify 0.5 into 0.5
25.957 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
25.957 * [taylor]: Taking taylor expansion of phi2 in phi1
25.957 * [backup-simplify]: Simplify phi2 into phi2
25.957 * [taylor]: Taking taylor expansion of phi1 in phi1
25.957 * [backup-simplify]: Simplify 0 into 0
25.957 * [backup-simplify]: Simplify 1 into 1
25.957 * [backup-simplify]: Simplify (+ phi2 0) into phi2
25.957 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.957 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.957 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.957 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
25.957 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
25.957 * [taylor]: Taking taylor expansion of 0.5 in phi2
25.957 * [backup-simplify]: Simplify 0.5 into 0.5
25.957 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
25.957 * [taylor]: Taking taylor expansion of phi2 in phi2
25.957 * [backup-simplify]: Simplify 0 into 0
25.957 * [backup-simplify]: Simplify 1 into 1
25.957 * [taylor]: Taking taylor expansion of phi1 in phi2
25.957 * [backup-simplify]: Simplify phi1 into phi1
25.957 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
25.957 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.957 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.957 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.957 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
25.957 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
25.957 * [taylor]: Taking taylor expansion of 0.5 in phi2
25.957 * [backup-simplify]: Simplify 0.5 into 0.5
25.957 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
25.957 * [taylor]: Taking taylor expansion of phi2 in phi2
25.957 * [backup-simplify]: Simplify 0 into 0
25.957 * [backup-simplify]: Simplify 1 into 1
25.957 * [taylor]: Taking taylor expansion of phi1 in phi2
25.957 * [backup-simplify]: Simplify phi1 into phi1
25.957 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
25.957 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.957 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.957 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.958 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
25.958 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
25.958 * [backup-simplify]: Simplify (- 0) into 0
25.958 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
25.958 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
25.958 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
25.958 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.958 * [backup-simplify]: Simplify 0.5 into 0.5
25.958 * [taylor]: Taking taylor expansion of phi1 in phi1
25.958 * [backup-simplify]: Simplify 0 into 0
25.958 * [backup-simplify]: Simplify 1 into 1
25.958 * [backup-simplify]: Simplify (* 0.5 0) into 0
25.959 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
25.959 * [backup-simplify]: Simplify 1 into 1
25.960 * [backup-simplify]: Simplify (+ 0) into 0
25.960 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
25.960 * [backup-simplify]: Simplify (+ 1 0) into 1
25.961 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
25.962 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
25.962 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
25.962 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
25.962 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
25.962 * [taylor]: Taking taylor expansion of (- (* 0.5 (sin (* 0.5 phi1)))) in phi1
25.962 * [taylor]: Taking taylor expansion of (* 0.5 (sin (* 0.5 phi1))) in phi1
25.963 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.963 * [backup-simplify]: Simplify 0.5 into 0.5
25.963 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
25.963 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
25.963 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.963 * [backup-simplify]: Simplify 0.5 into 0.5
25.963 * [taylor]: Taking taylor expansion of phi1 in phi1
25.963 * [backup-simplify]: Simplify 0 into 0
25.963 * [backup-simplify]: Simplify 1 into 1
25.963 * [backup-simplify]: Simplify (* 0.5 0) into 0
25.964 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
25.964 * [backup-simplify]: Simplify (* 0.5 0) into 0
25.964 * [backup-simplify]: Simplify (- 0) into 0
25.964 * [backup-simplify]: Simplify 0 into 0
25.965 * [backup-simplify]: Simplify (+ 0) into 0
25.965 * [backup-simplify]: Simplify 0 into 0
25.966 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
25.967 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
25.967 * [backup-simplify]: Simplify (+ 0 0) into 0
25.968 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
25.968 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
25.969 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
25.969 * [backup-simplify]: Simplify (- 0) into 0
25.969 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
25.969 * [taylor]: Taking taylor expansion of (- (* 0.125 (cos (* 0.5 phi1)))) in phi1
25.969 * [taylor]: Taking taylor expansion of (* 0.125 (cos (* 0.5 phi1))) in phi1
25.969 * [taylor]: Taking taylor expansion of 0.125 in phi1
25.969 * [backup-simplify]: Simplify 0.125 into 0.125
25.969 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
25.969 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
25.969 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.969 * [backup-simplify]: Simplify 0.5 into 0.5
25.969 * [taylor]: Taking taylor expansion of phi1 in phi1
25.969 * [backup-simplify]: Simplify 0 into 0
25.969 * [backup-simplify]: Simplify 1 into 1
25.969 * [backup-simplify]: Simplify (* 0.5 0) into 0
25.970 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
25.971 * [backup-simplify]: Simplify (* 0.125 1) into 0.125
25.971 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
25.971 * [backup-simplify]: Simplify (- 0.125) into (- 0.125)
25.973 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
25.974 * [backup-simplify]: Simplify (+ (* 0.5 0.5) (* 0 0)) into 0.25
25.974 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
25.974 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
25.975 * [backup-simplify]: Simplify (+ (* (- 0.25) (* phi1 phi2)) (+ (* (- 0.125) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
25.975 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.975 * [approximate]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
25.975 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
25.975 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
25.975 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.975 * [backup-simplify]: Simplify 0.5 into 0.5
25.975 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
25.975 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
25.975 * [taylor]: Taking taylor expansion of phi1 in phi1
25.975 * [backup-simplify]: Simplify 0 into 0
25.975 * [backup-simplify]: Simplify 1 into 1
25.976 * [backup-simplify]: Simplify (/ 1 1) into 1
25.976 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
25.976 * [taylor]: Taking taylor expansion of phi2 in phi1
25.976 * [backup-simplify]: Simplify phi2 into phi2
25.976 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
25.976 * [backup-simplify]: Simplify (+ 1 0) into 1
25.976 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
25.976 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.976 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
25.976 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
25.976 * [taylor]: Taking taylor expansion of 0.5 in phi2
25.976 * [backup-simplify]: Simplify 0.5 into 0.5
25.976 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
25.977 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
25.977 * [taylor]: Taking taylor expansion of phi1 in phi2
25.977 * [backup-simplify]: Simplify phi1 into phi1
25.977 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
25.977 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
25.977 * [taylor]: Taking taylor expansion of phi2 in phi2
25.977 * [backup-simplify]: Simplify 0 into 0
25.977 * [backup-simplify]: Simplify 1 into 1
25.977 * [backup-simplify]: Simplify (/ 1 1) into 1
25.977 * [backup-simplify]: Simplify (+ 0 1) into 1
25.977 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
25.978 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.978 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
25.978 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
25.978 * [taylor]: Taking taylor expansion of 0.5 in phi2
25.978 * [backup-simplify]: Simplify 0.5 into 0.5
25.978 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
25.978 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
25.978 * [taylor]: Taking taylor expansion of phi1 in phi2
25.978 * [backup-simplify]: Simplify phi1 into phi1
25.978 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
25.978 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
25.978 * [taylor]: Taking taylor expansion of phi2 in phi2
25.978 * [backup-simplify]: Simplify 0 into 0
25.978 * [backup-simplify]: Simplify 1 into 1
25.978 * [backup-simplify]: Simplify (/ 1 1) into 1
25.979 * [backup-simplify]: Simplify (+ 0 1) into 1
25.979 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
25.979 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.979 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
25.979 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
25.979 * [taylor]: Taking taylor expansion of 0.5 in phi1
25.979 * [backup-simplify]: Simplify 0.5 into 0.5
25.979 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
25.979 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
25.979 * [taylor]: Taking taylor expansion of phi1 in phi1
25.979 * [backup-simplify]: Simplify 0 into 0
25.979 * [backup-simplify]: Simplify 1 into 1
25.980 * [backup-simplify]: Simplify (/ 1 1) into 1
25.980 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
25.980 * [taylor]: Taking taylor expansion of phi2 in phi1
25.980 * [backup-simplify]: Simplify phi2 into phi2
25.980 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
25.980 * [backup-simplify]: Simplify (+ 1 0) into 1
25.980 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
25.980 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.981 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.981 * [taylor]: Taking taylor expansion of 0 in phi1
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [taylor]: Taking taylor expansion of 0 in phi1
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [taylor]: Taking taylor expansion of 0 in phi1
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [backup-simplify]: Simplify 0 into 0
25.981 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) into (cos (* 0.5 (+ phi2 phi1)))
25.982 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.982 * [approximate]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in (phi2 phi1) around 0
25.982 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
25.982 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
25.982 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.982 * [backup-simplify]: Simplify -0.5 into -0.5
25.982 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
25.982 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
25.982 * [taylor]: Taking taylor expansion of phi1 in phi1
25.982 * [backup-simplify]: Simplify 0 into 0
25.982 * [backup-simplify]: Simplify 1 into 1
25.982 * [backup-simplify]: Simplify (/ 1 1) into 1
25.982 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
25.982 * [taylor]: Taking taylor expansion of phi2 in phi1
25.983 * [backup-simplify]: Simplify phi2 into phi2
25.983 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
25.983 * [backup-simplify]: Simplify (+ 1 0) into 1
25.984 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
25.984 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.984 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
25.984 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
25.984 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.984 * [backup-simplify]: Simplify -0.5 into -0.5
25.984 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
25.984 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
25.984 * [taylor]: Taking taylor expansion of phi1 in phi2
25.984 * [backup-simplify]: Simplify phi1 into phi1
25.984 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
25.984 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
25.984 * [taylor]: Taking taylor expansion of phi2 in phi2
25.984 * [backup-simplify]: Simplify 0 into 0
25.984 * [backup-simplify]: Simplify 1 into 1
25.985 * [backup-simplify]: Simplify (/ 1 1) into 1
25.985 * [backup-simplify]: Simplify (+ 0 1) into 1
25.986 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
25.986 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.986 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
25.986 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
25.986 * [taylor]: Taking taylor expansion of -0.5 in phi2
25.986 * [backup-simplify]: Simplify -0.5 into -0.5
25.986 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
25.986 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
25.986 * [taylor]: Taking taylor expansion of phi1 in phi2
25.986 * [backup-simplify]: Simplify phi1 into phi1
25.986 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
25.986 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
25.986 * [taylor]: Taking taylor expansion of phi2 in phi2
25.986 * [backup-simplify]: Simplify 0 into 0
25.986 * [backup-simplify]: Simplify 1 into 1
25.987 * [backup-simplify]: Simplify (/ 1 1) into 1
25.987 * [backup-simplify]: Simplify (+ 0 1) into 1
25.988 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
25.988 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.988 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
25.988 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
25.988 * [taylor]: Taking taylor expansion of -0.5 in phi1
25.988 * [backup-simplify]: Simplify -0.5 into -0.5
25.988 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
25.988 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
25.988 * [taylor]: Taking taylor expansion of phi1 in phi1
25.988 * [backup-simplify]: Simplify 0 into 0
25.988 * [backup-simplify]: Simplify 1 into 1
25.989 * [backup-simplify]: Simplify (/ 1 1) into 1
25.989 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
25.989 * [taylor]: Taking taylor expansion of phi2 in phi1
25.989 * [backup-simplify]: Simplify phi2 into phi2
25.989 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
25.989 * [backup-simplify]: Simplify (+ 1 0) into 1
25.989 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
25.989 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.989 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
25.989 * [taylor]: Taking taylor expansion of 0 in phi1
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [taylor]: Taking taylor expansion of 0 in phi1
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [taylor]: Taking taylor expansion of 0 in phi1
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [backup-simplify]: Simplify 0 into 0
25.990 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) into (cos (* 0.5 (+ phi2 phi1)))
25.990 * * * * [progress]: [ 3 / 4 ] generating series at (2 2 1 1)
25.992 * [backup-simplify]: Simplify (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
25.992 * [approximate]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in (lambda2 phi2 phi1 lambda1) around 0
25.992 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda1
25.992 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda1
25.992 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1
25.992 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1
25.992 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
25.992 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
25.992 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.992 * [backup-simplify]: Simplify 0.5 into 0.5
25.992 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.992 * [backup-simplify]: Simplify phi2 into phi2
25.992 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.992 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.992 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.992 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
25.993 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
25.993 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
25.993 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1
25.993 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1
25.993 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
25.993 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
25.993 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.993 * [backup-simplify]: Simplify 0.5 into 0.5
25.993 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.993 * [backup-simplify]: Simplify phi1 into phi1
25.993 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.993 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.993 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.993 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
25.993 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
25.993 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
25.993 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
25.993 * [taylor]: Taking taylor expansion of lambda1 in lambda1
25.993 * [backup-simplify]: Simplify 0 into 0
25.993 * [backup-simplify]: Simplify 1 into 1
25.993 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda1
25.993 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda1
25.993 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda1
25.993 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
25.993 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
25.993 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.993 * [backup-simplify]: Simplify 0.5 into 0.5
25.993 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.993 * [backup-simplify]: Simplify phi2 into phi2
25.993 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.993 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.993 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.993 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
25.994 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
25.994 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
25.994 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda1
25.994 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
25.994 * [taylor]: Taking taylor expansion of lambda2 in lambda1
25.994 * [backup-simplify]: Simplify lambda2 into lambda2
25.994 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda1
25.994 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
25.994 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
25.994 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.994 * [backup-simplify]: Simplify 0.5 into 0.5
25.994 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.994 * [backup-simplify]: Simplify phi1 into phi1
25.994 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.994 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.994 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.994 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
25.994 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
25.994 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
25.994 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda1
25.994 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda1
25.994 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1
25.994 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
25.994 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
25.994 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.994 * [backup-simplify]: Simplify 0.5 into 0.5
25.994 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.994 * [backup-simplify]: Simplify phi2 into phi2
25.994 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.994 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.994 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.994 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
25.995 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
25.995 * [backup-simplify]: Simplify (- 0) into 0
25.995 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
25.995 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda1
25.995 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1
25.995 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
25.995 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
25.995 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.995 * [backup-simplify]: Simplify 0.5 into 0.5
25.995 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.995 * [backup-simplify]: Simplify phi1 into phi1
25.995 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.995 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.995 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.995 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
25.995 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
25.996 * [backup-simplify]: Simplify (- 0) into 0
25.996 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
25.996 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
25.996 * [taylor]: Taking taylor expansion of lambda2 in lambda1
25.996 * [backup-simplify]: Simplify lambda2 into lambda2
25.996 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda1
25.996 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda1
25.996 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
25.996 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
25.996 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.996 * [backup-simplify]: Simplify 0.5 into 0.5
25.996 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.996 * [backup-simplify]: Simplify phi2 into phi2
25.996 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.996 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.996 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.996 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
25.996 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
25.996 * [backup-simplify]: Simplify (- 0) into 0
25.997 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
25.997 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda1
25.997 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda1
25.997 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
25.997 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
25.997 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.997 * [backup-simplify]: Simplify 0.5 into 0.5
25.997 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.997 * [backup-simplify]: Simplify phi1 into phi1
25.997 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.997 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.997 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.997 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
25.997 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
25.997 * [backup-simplify]: Simplify (- 0) into 0
25.997 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
25.997 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
25.997 * [taylor]: Taking taylor expansion of lambda1 in lambda1
25.997 * [backup-simplify]: Simplify 0 into 0
25.997 * [backup-simplify]: Simplify 1 into 1
25.997 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda1
25.997 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda1
25.997 * [taylor]: Taking taylor expansion of 2 in lambda1
25.997 * [backup-simplify]: Simplify 2 into 2
25.997 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda1
25.997 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
25.998 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
25.998 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.998 * [backup-simplify]: Simplify 0.5 into 0.5
25.998 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.998 * [backup-simplify]: Simplify phi2 into phi2
25.998 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.998 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.998 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.998 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda1
25.998 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
25.998 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
25.998 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.998 * [backup-simplify]: Simplify 0.5 into 0.5
25.998 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.998 * [backup-simplify]: Simplify phi2 into phi2
25.998 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.998 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.998 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.998 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda1
25.998 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
25.998 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
25.998 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.998 * [backup-simplify]: Simplify 0.5 into 0.5
25.998 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.998 * [backup-simplify]: Simplify phi1 into phi1
25.998 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.998 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.998 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.998 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda1
25.998 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
25.998 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
25.998 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.998 * [backup-simplify]: Simplify 0.5 into 0.5
25.998 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.998 * [backup-simplify]: Simplify phi1 into phi1
25.998 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.998 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.998 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.999 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
25.999 * [taylor]: Taking taylor expansion of lambda2 in lambda1
25.999 * [backup-simplify]: Simplify lambda2 into lambda2
25.999 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda1
25.999 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda1
25.999 * [taylor]: Taking taylor expansion of 2 in lambda1
25.999 * [backup-simplify]: Simplify 2 into 2
25.999 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda1
25.999 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda1
25.999 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
25.999 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.999 * [backup-simplify]: Simplify 0.5 into 0.5
25.999 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.999 * [backup-simplify]: Simplify phi2 into phi2
25.999 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.999 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.999 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.999 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda1
25.999 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda1
25.999 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda1
25.999 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.999 * [backup-simplify]: Simplify 0.5 into 0.5
25.999 * [taylor]: Taking taylor expansion of phi2 in lambda1
25.999 * [backup-simplify]: Simplify phi2 into phi2
25.999 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
25.999 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
25.999 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
25.999 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda1
25.999 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda1
25.999 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
25.999 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.999 * [backup-simplify]: Simplify 0.5 into 0.5
25.999 * [taylor]: Taking taylor expansion of phi1 in lambda1
25.999 * [backup-simplify]: Simplify phi1 into phi1
25.999 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
25.999 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
25.999 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
25.999 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda1
25.999 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda1
25.999 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda1
25.999 * [taylor]: Taking taylor expansion of 0.5 in lambda1
25.999 * [backup-simplify]: Simplify 0.5 into 0.5
25.999 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.000 * [backup-simplify]: Simplify phi1 into phi1
26.000 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.000 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.000 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.000 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.000 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.000 * [backup-simplify]: Simplify 0 into 0
26.000 * [backup-simplify]: Simplify 1 into 1
26.000 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda1
26.000 * [taylor]: Taking taylor expansion of 2 in lambda1
26.000 * [backup-simplify]: Simplify 2 into 2
26.000 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda1
26.000 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.000 * [backup-simplify]: Simplify lambda2 into lambda2
26.000 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda1
26.000 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda1
26.000 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda1
26.000 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda1
26.000 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.000 * [backup-simplify]: Simplify 0.5 into 0.5
26.000 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda1
26.000 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.000 * [backup-simplify]: Simplify phi2 into phi2
26.000 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.000 * [backup-simplify]: Simplify phi1 into phi1
26.000 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
26.000 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
26.000 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
26.000 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
26.000 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
26.000 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
26.001 * [backup-simplify]: Simplify (- 0) into 0
26.001 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
26.001 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.001 * [backup-simplify]: Simplify 0 into 0
26.001 * [backup-simplify]: Simplify 1 into 1
26.001 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi1
26.001 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi1
26.001 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
26.001 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1
26.001 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
26.001 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
26.001 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.001 * [backup-simplify]: Simplify 0.5 into 0.5
26.001 * [taylor]: Taking taylor expansion of phi2 in phi1
26.001 * [backup-simplify]: Simplify phi2 into phi2
26.001 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.001 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.001 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.001 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
26.001 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
26.001 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
26.001 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
26.001 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
26.002 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
26.002 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.002 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.002 * [backup-simplify]: Simplify 0.5 into 0.5
26.002 * [taylor]: Taking taylor expansion of phi1 in phi1
26.002 * [backup-simplify]: Simplify 0 into 0
26.002 * [backup-simplify]: Simplify 1 into 1
26.002 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.003 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.005 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.005 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.005 * [backup-simplify]: Simplify lambda1 into lambda1
26.005 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi1
26.005 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi1
26.005 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi1
26.005 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
26.005 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
26.005 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.005 * [backup-simplify]: Simplify 0.5 into 0.5
26.005 * [taylor]: Taking taylor expansion of phi2 in phi1
26.005 * [backup-simplify]: Simplify phi2 into phi2
26.005 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.005 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.005 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.005 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
26.005 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
26.005 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
26.005 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi1
26.005 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.005 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.005 * [backup-simplify]: Simplify lambda2 into lambda2
26.005 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
26.005 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
26.005 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.005 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.005 * [backup-simplify]: Simplify 0.5 into 0.5
26.005 * [taylor]: Taking taylor expansion of phi1 in phi1
26.005 * [backup-simplify]: Simplify 0 into 0
26.005 * [backup-simplify]: Simplify 1 into 1
26.006 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.007 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.008 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1
26.008 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi1
26.008 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1
26.008 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
26.008 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
26.008 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.008 * [backup-simplify]: Simplify 0.5 into 0.5
26.008 * [taylor]: Taking taylor expansion of phi2 in phi1
26.008 * [backup-simplify]: Simplify phi2 into phi2
26.009 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.009 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.009 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.009 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.009 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.009 * [backup-simplify]: Simplify (- 0) into 0
26.010 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.010 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi1
26.010 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
26.010 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.010 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.010 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.010 * [backup-simplify]: Simplify 0.5 into 0.5
26.010 * [taylor]: Taking taylor expansion of phi1 in phi1
26.010 * [backup-simplify]: Simplify 0 into 0
26.010 * [backup-simplify]: Simplify 1 into 1
26.010 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.012 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.012 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.012 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.012 * [backup-simplify]: Simplify lambda2 into lambda2
26.012 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
26.012 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi1
26.012 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
26.012 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
26.012 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.012 * [backup-simplify]: Simplify 0.5 into 0.5
26.012 * [taylor]: Taking taylor expansion of phi2 in phi1
26.012 * [backup-simplify]: Simplify phi2 into phi2
26.013 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.013 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.013 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.013 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.013 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.013 * [backup-simplify]: Simplify (- 0) into 0
26.013 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.014 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
26.014 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
26.014 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.014 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.014 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.014 * [backup-simplify]: Simplify 0.5 into 0.5
26.014 * [taylor]: Taking taylor expansion of phi1 in phi1
26.014 * [backup-simplify]: Simplify 0 into 0
26.014 * [backup-simplify]: Simplify 1 into 1
26.014 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.016 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.016 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.016 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.016 * [backup-simplify]: Simplify lambda1 into lambda1
26.016 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi1
26.016 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi1
26.016 * [taylor]: Taking taylor expansion of 2 in phi1
26.016 * [backup-simplify]: Simplify 2 into 2
26.016 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi1
26.016 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
26.016 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
26.016 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.016 * [backup-simplify]: Simplify 0.5 into 0.5
26.016 * [taylor]: Taking taylor expansion of phi2 in phi1
26.016 * [backup-simplify]: Simplify phi2 into phi2
26.016 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.017 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.017 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.017 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi1
26.017 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
26.017 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
26.017 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.017 * [backup-simplify]: Simplify 0.5 into 0.5
26.017 * [taylor]: Taking taylor expansion of phi2 in phi1
26.017 * [backup-simplify]: Simplify phi2 into phi2
26.017 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.017 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.017 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.017 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi1
26.017 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.017 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.017 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.017 * [backup-simplify]: Simplify 0.5 into 0.5
26.017 * [taylor]: Taking taylor expansion of phi1 in phi1
26.017 * [backup-simplify]: Simplify 0 into 0
26.017 * [backup-simplify]: Simplify 1 into 1
26.018 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.019 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.019 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi1
26.019 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
26.019 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.020 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.020 * [backup-simplify]: Simplify 0.5 into 0.5
26.020 * [taylor]: Taking taylor expansion of phi1 in phi1
26.020 * [backup-simplify]: Simplify 0 into 0
26.020 * [backup-simplify]: Simplify 1 into 1
26.020 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.022 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.022 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.022 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.022 * [backup-simplify]: Simplify lambda2 into lambda2
26.022 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi1
26.022 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi1
26.022 * [taylor]: Taking taylor expansion of 2 in phi1
26.022 * [backup-simplify]: Simplify 2 into 2
26.022 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1
26.022 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi1
26.022 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
26.022 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.022 * [backup-simplify]: Simplify 0.5 into 0.5
26.022 * [taylor]: Taking taylor expansion of phi2 in phi1
26.022 * [backup-simplify]: Simplify phi2 into phi2
26.023 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.023 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.023 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.023 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1
26.023 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi1
26.023 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi1
26.023 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.023 * [backup-simplify]: Simplify 0.5 into 0.5
26.023 * [taylor]: Taking taylor expansion of phi2 in phi1
26.023 * [backup-simplify]: Simplify phi2 into phi2
26.023 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.023 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.023 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.023 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1
26.023 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.023 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.023 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.023 * [backup-simplify]: Simplify 0.5 into 0.5
26.023 * [taylor]: Taking taylor expansion of phi1 in phi1
26.023 * [backup-simplify]: Simplify 0 into 0
26.023 * [backup-simplify]: Simplify 1 into 1
26.024 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.026 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.026 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1
26.026 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
26.026 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.026 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.026 * [backup-simplify]: Simplify 0.5 into 0.5
26.026 * [taylor]: Taking taylor expansion of phi1 in phi1
26.026 * [backup-simplify]: Simplify 0 into 0
26.026 * [backup-simplify]: Simplify 1 into 1
26.034 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.036 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.036 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.037 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.037 * [backup-simplify]: Simplify lambda1 into lambda1
26.037 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi1
26.037 * [taylor]: Taking taylor expansion of 2 in phi1
26.037 * [backup-simplify]: Simplify 2 into 2
26.037 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi1
26.037 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.037 * [backup-simplify]: Simplify lambda2 into lambda2
26.037 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi1
26.037 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
26.037 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
26.037 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
26.037 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.037 * [backup-simplify]: Simplify 0.5 into 0.5
26.037 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
26.037 * [taylor]: Taking taylor expansion of phi2 in phi1
26.037 * [backup-simplify]: Simplify phi2 into phi2
26.037 * [taylor]: Taking taylor expansion of phi1 in phi1
26.037 * [backup-simplify]: Simplify 0 into 0
26.037 * [backup-simplify]: Simplify 1 into 1
26.037 * [backup-simplify]: Simplify (+ phi2 0) into phi2
26.037 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.037 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.037 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.037 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.037 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.038 * [backup-simplify]: Simplify (- 0) into 0
26.038 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.038 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.038 * [backup-simplify]: Simplify lambda1 into lambda1
26.038 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in phi2
26.038 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in phi2
26.038 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
26.038 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
26.038 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
26.038 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.038 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.038 * [backup-simplify]: Simplify 0.5 into 0.5
26.038 * [taylor]: Taking taylor expansion of phi2 in phi2
26.038 * [backup-simplify]: Simplify 0 into 0
26.038 * [backup-simplify]: Simplify 1 into 1
26.039 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.039 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.041 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.041 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
26.041 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
26.041 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
26.041 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.041 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.041 * [backup-simplify]: Simplify 0.5 into 0.5
26.041 * [taylor]: Taking taylor expansion of phi1 in phi2
26.041 * [backup-simplify]: Simplify phi1 into phi1
26.041 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.041 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.041 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.041 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.041 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.041 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.041 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.041 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.041 * [backup-simplify]: Simplify lambda1 into lambda1
26.041 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in phi2
26.041 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in phi2
26.041 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
26.041 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
26.042 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.042 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.042 * [backup-simplify]: Simplify 0.5 into 0.5
26.042 * [taylor]: Taking taylor expansion of phi2 in phi2
26.042 * [backup-simplify]: Simplify 0 into 0
26.042 * [backup-simplify]: Simplify 1 into 1
26.042 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.043 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.044 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.044 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in phi2
26.044 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.044 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.044 * [backup-simplify]: Simplify lambda2 into lambda2
26.044 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
26.044 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
26.044 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.044 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.044 * [backup-simplify]: Simplify 0.5 into 0.5
26.044 * [taylor]: Taking taylor expansion of phi1 in phi2
26.044 * [backup-simplify]: Simplify phi1 into phi1
26.044 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.044 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.045 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.045 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.045 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.045 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.045 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2
26.045 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in phi2
26.045 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
26.045 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
26.045 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.045 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.045 * [backup-simplify]: Simplify 0.5 into 0.5
26.045 * [taylor]: Taking taylor expansion of phi2 in phi2
26.045 * [backup-simplify]: Simplify 0 into 0
26.045 * [backup-simplify]: Simplify 1 into 1
26.045 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.046 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.046 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in phi2
26.046 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
26.046 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
26.046 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.046 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.046 * [backup-simplify]: Simplify 0.5 into 0.5
26.046 * [taylor]: Taking taylor expansion of phi1 in phi2
26.046 * [backup-simplify]: Simplify phi1 into phi1
26.046 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.046 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.046 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.046 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.047 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.047 * [backup-simplify]: Simplify (- 0) into 0
26.047 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.047 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.047 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.047 * [backup-simplify]: Simplify lambda2 into lambda2
26.047 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
26.047 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
26.047 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
26.047 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.047 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.047 * [backup-simplify]: Simplify 0.5 into 0.5
26.047 * [taylor]: Taking taylor expansion of phi2 in phi2
26.047 * [backup-simplify]: Simplify 0 into 0
26.047 * [backup-simplify]: Simplify 1 into 1
26.047 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.048 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.048 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
26.048 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
26.048 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
26.048 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.048 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.048 * [backup-simplify]: Simplify 0.5 into 0.5
26.048 * [taylor]: Taking taylor expansion of phi1 in phi2
26.048 * [backup-simplify]: Simplify phi1 into phi1
26.048 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.048 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.048 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.049 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.049 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.049 * [backup-simplify]: Simplify (- 0) into 0
26.049 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.049 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.049 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.049 * [backup-simplify]: Simplify lambda1 into lambda1
26.049 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in phi2
26.049 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in phi2
26.049 * [taylor]: Taking taylor expansion of 2 in phi2
26.049 * [backup-simplify]: Simplify 2 into 2
26.049 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in phi2
26.049 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
26.049 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.049 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.049 * [backup-simplify]: Simplify 0.5 into 0.5
26.049 * [taylor]: Taking taylor expansion of phi2 in phi2
26.049 * [backup-simplify]: Simplify 0 into 0
26.049 * [backup-simplify]: Simplify 1 into 1
26.050 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.050 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.050 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in phi2
26.050 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
26.050 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.050 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.050 * [backup-simplify]: Simplify 0.5 into 0.5
26.051 * [taylor]: Taking taylor expansion of phi2 in phi2
26.051 * [backup-simplify]: Simplify 0 into 0
26.051 * [backup-simplify]: Simplify 1 into 1
26.051 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.052 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.052 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in phi2
26.052 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
26.052 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.052 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.052 * [backup-simplify]: Simplify 0.5 into 0.5
26.052 * [taylor]: Taking taylor expansion of phi1 in phi2
26.052 * [backup-simplify]: Simplify phi1 into phi1
26.052 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.052 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.052 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.052 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in phi2
26.052 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
26.052 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.052 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.052 * [backup-simplify]: Simplify 0.5 into 0.5
26.052 * [taylor]: Taking taylor expansion of phi1 in phi2
26.052 * [backup-simplify]: Simplify phi1 into phi1
26.052 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.052 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.052 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.052 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.052 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.052 * [backup-simplify]: Simplify lambda2 into lambda2
26.052 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in phi2
26.052 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2
26.052 * [taylor]: Taking taylor expansion of 2 in phi2
26.052 * [backup-simplify]: Simplify 2 into 2
26.052 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2
26.052 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
26.052 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.053 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.053 * [backup-simplify]: Simplify 0.5 into 0.5
26.053 * [taylor]: Taking taylor expansion of phi2 in phi2
26.053 * [backup-simplify]: Simplify 0 into 0
26.053 * [backup-simplify]: Simplify 1 into 1
26.053 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.054 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.054 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2
26.054 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
26.054 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.054 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.054 * [backup-simplify]: Simplify 0.5 into 0.5
26.054 * [taylor]: Taking taylor expansion of phi2 in phi2
26.054 * [backup-simplify]: Simplify 0 into 0
26.054 * [backup-simplify]: Simplify 1 into 1
26.054 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.055 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.055 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2
26.055 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
26.055 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.055 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.055 * [backup-simplify]: Simplify 0.5 into 0.5
26.055 * [taylor]: Taking taylor expansion of phi1 in phi2
26.055 * [backup-simplify]: Simplify phi1 into phi1
26.055 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.055 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.055 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.055 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2
26.055 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
26.055 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.055 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.055 * [backup-simplify]: Simplify 0.5 into 0.5
26.055 * [taylor]: Taking taylor expansion of phi1 in phi2
26.055 * [backup-simplify]: Simplify phi1 into phi1
26.055 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.056 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.056 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.056 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.056 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.056 * [backup-simplify]: Simplify lambda1 into lambda1
26.056 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
26.056 * [taylor]: Taking taylor expansion of 2 in phi2
26.056 * [backup-simplify]: Simplify 2 into 2
26.056 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
26.056 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.056 * [backup-simplify]: Simplify lambda2 into lambda2
26.056 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
26.056 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
26.056 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
26.056 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
26.056 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.056 * [backup-simplify]: Simplify 0.5 into 0.5
26.056 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
26.056 * [taylor]: Taking taylor expansion of phi2 in phi2
26.056 * [backup-simplify]: Simplify 0 into 0
26.056 * [backup-simplify]: Simplify 1 into 1
26.056 * [taylor]: Taking taylor expansion of phi1 in phi2
26.056 * [backup-simplify]: Simplify phi1 into phi1
26.056 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
26.056 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.056 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.056 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.056 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.056 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.056 * [backup-simplify]: Simplify (- 0) into 0
26.057 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.057 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.057 * [backup-simplify]: Simplify lambda1 into lambda1
26.057 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
26.057 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda2
26.057 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2
26.057 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
26.057 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
26.057 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.057 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.057 * [backup-simplify]: Simplify 0.5 into 0.5
26.057 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.057 * [backup-simplify]: Simplify phi2 into phi2
26.057 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.057 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.057 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.057 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
26.057 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
26.057 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
26.057 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2
26.057 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
26.057 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
26.057 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.057 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.057 * [backup-simplify]: Simplify 0.5 into 0.5
26.057 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.057 * [backup-simplify]: Simplify phi1 into phi1
26.057 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.057 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.057 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.057 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.058 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.058 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.058 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.058 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.058 * [backup-simplify]: Simplify lambda1 into lambda1
26.058 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda2
26.058 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
26.058 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
26.058 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
26.058 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.058 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.058 * [backup-simplify]: Simplify 0.5 into 0.5
26.058 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.058 * [backup-simplify]: Simplify phi2 into phi2
26.058 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.058 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.058 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.058 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
26.058 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
26.058 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
26.058 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
26.058 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.058 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.058 * [backup-simplify]: Simplify 0 into 0
26.058 * [backup-simplify]: Simplify 1 into 1
26.058 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
26.058 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
26.058 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.058 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.058 * [backup-simplify]: Simplify 0.5 into 0.5
26.058 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.058 * [backup-simplify]: Simplify phi1 into phi1
26.058 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.058 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.058 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.059 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.059 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.059 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.059 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda2
26.059 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2
26.059 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
26.059 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
26.059 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.059 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.059 * [backup-simplify]: Simplify 0.5 into 0.5
26.059 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.059 * [backup-simplify]: Simplify phi2 into phi2
26.059 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.059 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.059 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.059 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.059 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.059 * [backup-simplify]: Simplify (- 0) into 0
26.059 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.059 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2
26.059 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
26.060 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
26.060 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.060 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.060 * [backup-simplify]: Simplify 0.5 into 0.5
26.060 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.060 * [backup-simplify]: Simplify phi1 into phi1
26.060 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.060 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.060 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.060 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.060 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.060 * [backup-simplify]: Simplify (- 0) into 0
26.060 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.060 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.060 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.060 * [backup-simplify]: Simplify 0 into 0
26.060 * [backup-simplify]: Simplify 1 into 1
26.060 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2
26.060 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
26.060 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
26.060 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.060 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.060 * [backup-simplify]: Simplify 0.5 into 0.5
26.060 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.060 * [backup-simplify]: Simplify phi2 into phi2
26.060 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.060 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.061 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.061 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.061 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.061 * [backup-simplify]: Simplify (- 0) into 0
26.061 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.061 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2
26.061 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
26.061 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
26.061 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.061 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.061 * [backup-simplify]: Simplify 0.5 into 0.5
26.061 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.061 * [backup-simplify]: Simplify phi1 into phi1
26.061 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.061 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.061 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.061 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.061 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.062 * [backup-simplify]: Simplify (- 0) into 0
26.062 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.062 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.062 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.062 * [backup-simplify]: Simplify lambda1 into lambda1
26.062 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
26.062 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2
26.062 * [taylor]: Taking taylor expansion of 2 in lambda2
26.062 * [backup-simplify]: Simplify 2 into 2
26.062 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2
26.062 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
26.062 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.062 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.062 * [backup-simplify]: Simplify 0.5 into 0.5
26.062 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.062 * [backup-simplify]: Simplify phi2 into phi2
26.062 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.062 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.062 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.062 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2
26.062 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
26.062 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.062 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.062 * [backup-simplify]: Simplify 0.5 into 0.5
26.062 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.062 * [backup-simplify]: Simplify phi2 into phi2
26.062 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.062 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.062 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.062 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2
26.062 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
26.062 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.063 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.063 * [backup-simplify]: Simplify 0.5 into 0.5
26.063 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.063 * [backup-simplify]: Simplify phi1 into phi1
26.063 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.063 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.063 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.063 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2
26.063 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
26.063 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.063 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.063 * [backup-simplify]: Simplify 0.5 into 0.5
26.063 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.063 * [backup-simplify]: Simplify phi1 into phi1
26.063 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.063 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.063 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.063 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.063 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.063 * [backup-simplify]: Simplify 0 into 0
26.063 * [backup-simplify]: Simplify 1 into 1
26.063 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
26.063 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda2
26.063 * [taylor]: Taking taylor expansion of 2 in lambda2
26.063 * [backup-simplify]: Simplify 2 into 2
26.063 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda2
26.063 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
26.063 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.063 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.063 * [backup-simplify]: Simplify 0.5 into 0.5
26.063 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.063 * [backup-simplify]: Simplify phi2 into phi2
26.063 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.063 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.063 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.063 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda2
26.063 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
26.063 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.063 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.063 * [backup-simplify]: Simplify 0.5 into 0.5
26.063 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.063 * [backup-simplify]: Simplify phi2 into phi2
26.063 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.064 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.064 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.064 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda2
26.064 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
26.064 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.064 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.064 * [backup-simplify]: Simplify 0.5 into 0.5
26.064 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.064 * [backup-simplify]: Simplify phi1 into phi1
26.064 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.064 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.064 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.064 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda2
26.064 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
26.064 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.064 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.064 * [backup-simplify]: Simplify 0.5 into 0.5
26.064 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.064 * [backup-simplify]: Simplify phi1 into phi1
26.064 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.064 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.064 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.064 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.064 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.064 * [backup-simplify]: Simplify lambda1 into lambda1
26.064 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
26.064 * [taylor]: Taking taylor expansion of 2 in lambda2
26.064 * [backup-simplify]: Simplify 2 into 2
26.064 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
26.064 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.064 * [backup-simplify]: Simplify 0 into 0
26.064 * [backup-simplify]: Simplify 1 into 1
26.064 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
26.064 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
26.064 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
26.064 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
26.064 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.064 * [backup-simplify]: Simplify 0.5 into 0.5
26.064 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
26.064 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.064 * [backup-simplify]: Simplify phi2 into phi2
26.065 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.065 * [backup-simplify]: Simplify phi1 into phi1
26.065 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
26.065 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
26.065 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
26.065 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
26.065 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
26.065 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
26.066 * [backup-simplify]: Simplify (- 0) into 0
26.066 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
26.066 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.066 * [backup-simplify]: Simplify lambda1 into lambda1
26.066 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) in lambda2
26.066 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))))) in lambda2
26.066 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2
26.066 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
26.066 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
26.066 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.066 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.066 * [backup-simplify]: Simplify 0.5 into 0.5
26.066 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.066 * [backup-simplify]: Simplify phi2 into phi2
26.066 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.066 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.067 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.067 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
26.067 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
26.067 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
26.067 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2
26.067 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
26.067 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
26.067 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.067 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.067 * [backup-simplify]: Simplify 0.5 into 0.5
26.067 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.067 * [backup-simplify]: Simplify phi1 into phi1
26.067 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.067 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.067 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.068 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.068 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.068 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.068 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.068 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.068 * [backup-simplify]: Simplify lambda1 into lambda1
26.068 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) in lambda2
26.068 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) in lambda2
26.068 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in lambda2
26.068 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
26.068 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.068 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.068 * [backup-simplify]: Simplify 0.5 into 0.5
26.068 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.068 * [backup-simplify]: Simplify phi2 into phi2
26.068 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.068 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.068 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.069 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
26.069 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
26.069 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
26.069 * [taylor]: Taking taylor expansion of (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2)) in lambda2
26.069 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.069 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.069 * [backup-simplify]: Simplify 0 into 0
26.069 * [backup-simplify]: Simplify 1 into 1
26.069 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in lambda2
26.069 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
26.069 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.069 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.069 * [backup-simplify]: Simplify 0.5 into 0.5
26.069 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.069 * [backup-simplify]: Simplify phi1 into phi1
26.069 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.069 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.069 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.070 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.070 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.070 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.070 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in lambda2
26.070 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2))) in lambda2
26.070 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
26.070 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
26.070 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.070 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.070 * [backup-simplify]: Simplify 0.5 into 0.5
26.070 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.070 * [backup-simplify]: Simplify phi2 into phi2
26.070 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.070 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.070 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.071 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.071 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.071 * [backup-simplify]: Simplify (- 0) into 0
26.071 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.071 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)) in lambda2
26.071 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
26.071 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
26.071 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.071 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.072 * [backup-simplify]: Simplify 0.5 into 0.5
26.072 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.072 * [backup-simplify]: Simplify phi1 into phi1
26.072 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.072 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.072 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.072 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.072 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.073 * [backup-simplify]: Simplify (- 0) into 0
26.073 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.073 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.073 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.073 * [backup-simplify]: Simplify 0 into 0
26.073 * [backup-simplify]: Simplify 1 into 1
26.073 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in lambda2
26.073 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in lambda2
26.073 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
26.073 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.073 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.073 * [backup-simplify]: Simplify 0.5 into 0.5
26.073 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.073 * [backup-simplify]: Simplify phi2 into phi2
26.073 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.073 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.074 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.074 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.074 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.074 * [backup-simplify]: Simplify (- 0) into 0
26.074 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.074 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in lambda2
26.074 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in lambda2
26.074 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
26.075 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.075 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.075 * [backup-simplify]: Simplify 0.5 into 0.5
26.075 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.075 * [backup-simplify]: Simplify phi1 into phi1
26.075 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.075 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.075 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.075 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.075 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.076 * [backup-simplify]: Simplify (- 0) into 0
26.076 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.076 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.076 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.076 * [backup-simplify]: Simplify lambda1 into lambda1
26.076 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) in lambda2
26.076 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))))) in lambda2
26.076 * [taylor]: Taking taylor expansion of 2 in lambda2
26.076 * [backup-simplify]: Simplify 2 into 2
26.076 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) in lambda2
26.076 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
26.076 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.076 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.076 * [backup-simplify]: Simplify 0.5 into 0.5
26.076 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.076 * [backup-simplify]: Simplify phi2 into phi2
26.076 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.076 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.076 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.076 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2)))) in lambda2
26.077 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
26.077 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.077 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.077 * [backup-simplify]: Simplify 0.5 into 0.5
26.077 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.077 * [backup-simplify]: Simplify phi2 into phi2
26.077 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.077 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.077 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.077 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda2 2))) in lambda2
26.077 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
26.077 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.077 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.077 * [backup-simplify]: Simplify 0.5 into 0.5
26.077 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.077 * [backup-simplify]: Simplify phi1 into phi1
26.077 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.077 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.077 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.077 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda2 2)) in lambda2
26.077 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
26.078 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.078 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.078 * [backup-simplify]: Simplify 0.5 into 0.5
26.078 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.078 * [backup-simplify]: Simplify phi1 into phi1
26.078 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.078 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.078 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.078 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.078 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.078 * [backup-simplify]: Simplify 0 into 0
26.078 * [backup-simplify]: Simplify 1 into 1
26.078 * [taylor]: Taking taylor expansion of (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) in lambda2
26.078 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in lambda2
26.078 * [taylor]: Taking taylor expansion of 2 in lambda2
26.078 * [backup-simplify]: Simplify 2 into 2
26.078 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in lambda2
26.078 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in lambda2
26.078 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.078 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.078 * [backup-simplify]: Simplify 0.5 into 0.5
26.078 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.078 * [backup-simplify]: Simplify phi2 into phi2
26.078 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.079 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.079 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.079 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in lambda2
26.079 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in lambda2
26.079 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in lambda2
26.079 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.079 * [backup-simplify]: Simplify 0.5 into 0.5
26.079 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.079 * [backup-simplify]: Simplify phi2 into phi2
26.079 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
26.079 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
26.079 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
26.079 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in lambda2
26.079 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in lambda2
26.079 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.079 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.079 * [backup-simplify]: Simplify 0.5 into 0.5
26.079 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.079 * [backup-simplify]: Simplify phi1 into phi1
26.079 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.080 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.080 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.080 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in lambda2
26.080 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in lambda2
26.080 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in lambda2
26.080 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.080 * [backup-simplify]: Simplify 0.5 into 0.5
26.080 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.080 * [backup-simplify]: Simplify phi1 into phi1
26.080 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.080 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.080 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.080 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.080 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.080 * [backup-simplify]: Simplify lambda1 into lambda1
26.080 * [taylor]: Taking taylor expansion of (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in lambda2
26.080 * [taylor]: Taking taylor expansion of 2 in lambda2
26.080 * [backup-simplify]: Simplify 2 into 2
26.080 * [taylor]: Taking taylor expansion of (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in lambda2
26.080 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.080 * [backup-simplify]: Simplify 0 into 0
26.080 * [backup-simplify]: Simplify 1 into 1
26.080 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in lambda2
26.080 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in lambda2
26.080 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in lambda2
26.081 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in lambda2
26.081 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.081 * [backup-simplify]: Simplify 0.5 into 0.5
26.081 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in lambda2
26.081 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.081 * [backup-simplify]: Simplify phi2 into phi2
26.081 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.081 * [backup-simplify]: Simplify phi1 into phi1
26.081 * [backup-simplify]: Simplify (+ phi2 phi1) into (+ phi2 phi1)
26.081 * [backup-simplify]: Simplify (* 0.5 (+ phi2 phi1)) into (* 0.5 (+ phi2 phi1))
26.081 * [backup-simplify]: Simplify (cos (* 0.5 (+ phi2 phi1))) into (cos (* 0.5 (+ phi2 phi1)))
26.081 * [backup-simplify]: Simplify (sin (* 0.5 (+ phi2 phi1))) into (sin (* 0.5 (+ phi2 phi1)))
26.081 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) 1) into (cos (* 0.5 (+ phi2 phi1)))
26.081 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ phi2 phi1))) 0) into 0
26.081 * [backup-simplify]: Simplify (- 0) into 0
26.081 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ phi2 phi1))) 0) into (cos (* 0.5 (+ phi2 phi1)))
26.082 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.082 * [backup-simplify]: Simplify lambda1 into lambda1
26.082 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
26.082 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
26.082 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.082 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))
26.082 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))
26.082 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
26.083 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
26.083 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.083 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
26.083 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))
26.083 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))
26.084 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))
26.084 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
26.085 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.085 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.085 * [backup-simplify]: Simplify (- 0) into 0
26.085 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.085 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
26.085 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
26.085 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
26.085 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.085 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.086 * [backup-simplify]: Simplify (- 0) into 0
26.086 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.086 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.086 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.086 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.086 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.086 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
26.086 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
26.086 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
26.087 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
26.087 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
26.087 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ phi2 phi1))) (cos (* 0.5 (+ phi2 phi1)))) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
26.088 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
26.088 * [backup-simplify]: Simplify (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) into 0
26.088 * [backup-simplify]: Simplify (* 2 0) into 0
26.089 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
26.089 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))
26.089 * [backup-simplify]: Simplify (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))
26.091 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))
26.091 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) in phi2
26.091 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi2
26.091 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
26.091 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
26.091 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
26.091 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.091 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.091 * [backup-simplify]: Simplify 0.5 into 0.5
26.091 * [taylor]: Taking taylor expansion of phi2 in phi2
26.091 * [backup-simplify]: Simplify 0 into 0
26.091 * [backup-simplify]: Simplify 1 into 1
26.091 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.092 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.094 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.094 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
26.094 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
26.094 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
26.094 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.094 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.094 * [backup-simplify]: Simplify 0.5 into 0.5
26.094 * [taylor]: Taking taylor expansion of phi1 in phi2
26.094 * [backup-simplify]: Simplify phi1 into phi1
26.094 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.094 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.094 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.094 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.094 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.094 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.094 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.094 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.094 * [backup-simplify]: Simplify lambda1 into lambda1
26.094 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi2
26.094 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
26.094 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
26.094 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.094 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.094 * [backup-simplify]: Simplify 0.5 into 0.5
26.094 * [taylor]: Taking taylor expansion of phi2 in phi2
26.094 * [backup-simplify]: Simplify 0 into 0
26.094 * [backup-simplify]: Simplify 1 into 1
26.095 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.095 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.096 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi2
26.096 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
26.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
26.096 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.096 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.096 * [backup-simplify]: Simplify 0.5 into 0.5
26.096 * [taylor]: Taking taylor expansion of phi1 in phi2
26.096 * [backup-simplify]: Simplify phi1 into phi1
26.096 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.096 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.096 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.096 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.096 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.096 * [backup-simplify]: Simplify (- 0) into 0
26.096 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.096 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.096 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.096 * [backup-simplify]: Simplify lambda1 into lambda1
26.096 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) in phi2
26.096 * [taylor]: Taking taylor expansion of 2 in phi2
26.096 * [backup-simplify]: Simplify 2 into 2
26.096 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi2
26.096 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
26.096 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.096 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.096 * [backup-simplify]: Simplify 0.5 into 0.5
26.096 * [taylor]: Taking taylor expansion of phi2 in phi2
26.097 * [backup-simplify]: Simplify 0 into 0
26.097 * [backup-simplify]: Simplify 1 into 1
26.097 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.098 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.098 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi2
26.098 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
26.098 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.098 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.098 * [backup-simplify]: Simplify 0.5 into 0.5
26.098 * [taylor]: Taking taylor expansion of phi2 in phi2
26.098 * [backup-simplify]: Simplify 0 into 0
26.098 * [backup-simplify]: Simplify 1 into 1
26.098 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.099 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.099 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi2
26.099 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
26.099 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.099 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.099 * [backup-simplify]: Simplify 0.5 into 0.5
26.099 * [taylor]: Taking taylor expansion of phi1 in phi2
26.099 * [backup-simplify]: Simplify phi1 into phi1
26.099 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.099 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.099 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.099 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi2
26.099 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
26.099 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.099 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.099 * [backup-simplify]: Simplify 0.5 into 0.5
26.099 * [taylor]: Taking taylor expansion of phi1 in phi2
26.099 * [backup-simplify]: Simplify phi1 into phi1
26.099 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.099 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.099 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.100 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.100 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.100 * [backup-simplify]: Simplify lambda1 into lambda1
26.100 * [backup-simplify]: Simplify (* 1 1) into 1
26.100 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
26.100 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.100 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
26.100 * [backup-simplify]: Simplify (* 1 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
26.101 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
26.101 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.101 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.101 * [backup-simplify]: Simplify (- 0) into 0
26.101 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.101 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.101 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.101 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.101 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.101 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (pow lambda1 2)) into (* (sin (* 0.5 phi1)) (pow lambda1 2))
26.102 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))
26.102 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
26.102 * [backup-simplify]: Simplify (* 1 0) into 0
26.102 * [backup-simplify]: Simplify (* 2 0) into 0
26.103 * [backup-simplify]: Simplify (- 0) into 0
26.103 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) 0) into (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))
26.103 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
26.103 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
26.103 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.103 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.103 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.103 * [backup-simplify]: Simplify 0.5 into 0.5
26.103 * [taylor]: Taking taylor expansion of phi1 in phi1
26.103 * [backup-simplify]: Simplify 0 into 0
26.103 * [backup-simplify]: Simplify 1 into 1
26.103 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.104 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.104 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.104 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.104 * [backup-simplify]: Simplify lambda1 into lambda1
26.104 * [backup-simplify]: Simplify (* 1 1) into 1
26.105 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.105 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
26.105 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.105 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.105 * [backup-simplify]: Simplify 0 into 0
26.105 * [backup-simplify]: Simplify 1 into 1
26.105 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
26.105 * [backup-simplify]: Simplify (+ 0) into 0
26.105 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
26.106 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
26.106 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.106 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
26.107 * [backup-simplify]: Simplify (+ 0 0) into 0
26.107 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (sin (* 0.5 phi1)))) into 0
26.107 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
26.107 * [backup-simplify]: Simplify (+ 0) into 0
26.108 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
26.108 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
26.108 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.109 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
26.109 * [backup-simplify]: Simplify (+ 0 0) into 0
26.109 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (sin (* 0.5 phi2)))) into 0
26.110 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
26.110 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
26.111 * [backup-simplify]: Simplify (+ 0) into 0
26.111 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
26.112 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
26.112 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.113 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
26.113 * [backup-simplify]: Simplify (- 0) into 0
26.114 * [backup-simplify]: Simplify (+ 0 0) into 0
26.114 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
26.114 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
26.115 * [backup-simplify]: Simplify (+ 0) into 0
26.115 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
26.116 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
26.116 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.117 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
26.117 * [backup-simplify]: Simplify (- 0) into 0
26.118 * [backup-simplify]: Simplify (+ 0 0) into 0
26.118 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (cos (* 0.5 phi2)))) into 0
26.118 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
26.119 * [backup-simplify]: Simplify (+ 0 0) into 0
26.119 * [backup-simplify]: Simplify (+ 0 0) into 0
26.120 * [backup-simplify]: Simplify (+ 0 0) into 0
26.120 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
26.120 * [backup-simplify]: Simplify (+ 0) into 0
26.121 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
26.121 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
26.122 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.123 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
26.123 * [backup-simplify]: Simplify (+ 0 0) into 0
26.123 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0
26.124 * [backup-simplify]: Simplify (+ 0) into 0
26.124 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
26.125 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
26.125 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.126 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
26.126 * [backup-simplify]: Simplify (- 0) into 0
26.127 * [backup-simplify]: Simplify (+ 0 0) into 0
26.127 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
26.127 * [backup-simplify]: Simplify (+ 0) into 0
26.128 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 1)) into 0
26.128 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
26.129 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.129 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 0)) into 0
26.130 * [backup-simplify]: Simplify (+ 0 0) into 0
26.130 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0
26.131 * [backup-simplify]: Simplify (+ 0) into 0
26.131 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 1)) into 0
26.132 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi2)) into 0
26.132 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.133 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (* 0 0)) into 0
26.134 * [backup-simplify]: Simplify (- 0) into 0
26.134 * [backup-simplify]: Simplify (+ 0 0) into 0
26.134 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0
26.135 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into 0
26.136 * [backup-simplify]: Simplify (+ 0) into 0
26.136 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 1)) into 0
26.137 * [backup-simplify]: Simplify (+ 0 0) into 0
26.137 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ phi2 phi1))) into 0
26.138 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.138 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (* 0 0)) into 0
26.139 * [backup-simplify]: Simplify (- 0) into 0
26.139 * [backup-simplify]: Simplify (+ 0 0) into 0
26.139 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (* 0 (cos (* 0.5 (+ phi2 phi1))))) into 0
26.140 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (* 0 lambda1)) into 0
26.140 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)
26.141 * [backup-simplify]: Simplify (+ (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0)) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
26.141 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
26.142 * [backup-simplify]: Simplify (+ 0 (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))
26.142 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
26.142 * [backup-simplify]: Simplify (+ 0 (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
26.143 * [taylor]: Taking taylor expansion of (- (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) in phi2
26.143 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) in phi2
26.143 * [taylor]: Taking taylor expansion of 2 in phi2
26.143 * [backup-simplify]: Simplify 2 into 2
26.143 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) in phi2
26.143 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
26.143 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
26.143 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
26.143 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.143 * [backup-simplify]: Simplify 0.5 into 0.5
26.143 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
26.143 * [taylor]: Taking taylor expansion of phi2 in phi2
26.143 * [backup-simplify]: Simplify 0 into 0
26.143 * [backup-simplify]: Simplify 1 into 1
26.143 * [taylor]: Taking taylor expansion of phi1 in phi2
26.143 * [backup-simplify]: Simplify phi1 into phi1
26.143 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
26.143 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.143 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.143 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.143 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.143 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.144 * [backup-simplify]: Simplify (- 0) into 0
26.144 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.144 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.144 * [backup-simplify]: Simplify lambda1 into lambda1
26.144 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
26.144 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) lambda1) into (* (pow (cos (* 0.5 phi1)) 2) lambda1)
26.145 * [backup-simplify]: Simplify (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) into (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))
26.145 * [backup-simplify]: Simplify (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)))
26.145 * [taylor]: Taking taylor expansion of (- (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) in phi1
26.145 * [taylor]: Taking taylor expansion of (* 2 (* (pow (cos (* 0.5 phi1)) 2) lambda1)) in phi1
26.145 * [taylor]: Taking taylor expansion of 2 in phi1
26.145 * [backup-simplify]: Simplify 2 into 2
26.145 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) lambda1) in phi1
26.145 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
26.145 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.145 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.145 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.145 * [backup-simplify]: Simplify 0.5 into 0.5
26.145 * [taylor]: Taking taylor expansion of phi1 in phi1
26.145 * [backup-simplify]: Simplify 0 into 0
26.145 * [backup-simplify]: Simplify 1 into 1
26.146 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.147 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.148 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.148 * [backup-simplify]: Simplify lambda1 into lambda1
26.148 * [backup-simplify]: Simplify (* 1 1) into 1
26.148 * [backup-simplify]: Simplify (* 1 lambda1) into lambda1
26.148 * [backup-simplify]: Simplify (* 2 lambda1) into (* 2 lambda1)
26.148 * [backup-simplify]: Simplify (- (* 2 lambda1)) into (- (* 2 lambda1))
26.148 * [taylor]: Taking taylor expansion of (- (* 2 lambda1)) in lambda1
26.149 * [taylor]: Taking taylor expansion of (* 2 lambda1) in lambda1
26.149 * [taylor]: Taking taylor expansion of 2 in lambda1
26.149 * [backup-simplify]: Simplify 2 into 2
26.149 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.149 * [backup-simplify]: Simplify 0 into 0
26.149 * [backup-simplify]: Simplify 1 into 1
26.149 * [backup-simplify]: Simplify (* 2 0) into 0
26.150 * [backup-simplify]: Simplify (- 0) into 0
26.150 * [backup-simplify]: Simplify 0 into 0
26.150 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
26.150 * [backup-simplify]: Simplify (+ 0) into 0
26.151 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
26.151 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
26.152 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.152 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
26.153 * [backup-simplify]: Simplify (- 0) into 0
26.153 * [backup-simplify]: Simplify (+ 0 0) into 0
26.153 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (cos (* 0.5 phi1)))) into 0
26.154 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* 0 (pow lambda1 2))) into 0
26.154 * [backup-simplify]: Simplify (+ 0) into 0
26.155 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.156 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) into 0
26.156 * [backup-simplify]: Simplify (+ 0 0) into 0
26.156 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
26.157 * [backup-simplify]: Simplify (+ 0) into 0
26.157 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 1)) into 0
26.158 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
26.158 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.159 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 0)) into 0
26.159 * [backup-simplify]: Simplify (+ 0 0) into 0
26.160 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 (pow lambda1 2))) into 0
26.160 * [backup-simplify]: Simplify (+ 0) into 0
26.160 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
26.161 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 phi1)) into 0
26.162 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.162 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (* 0 0)) into 0
26.163 * [backup-simplify]: Simplify (- 0) into 0
26.163 * [backup-simplify]: Simplify (+ 0 0) into 0
26.163 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2)))) into 0
26.165 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.166 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
26.166 * [backup-simplify]: Simplify (+ 0) into 0
26.167 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
26.167 * [backup-simplify]: Simplify (+ (* 2 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0)) into (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))
26.167 * [backup-simplify]: Simplify (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
26.168 * [backup-simplify]: Simplify (+ 0 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))
26.168 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) in phi1
26.168 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))) in phi1
26.168 * [taylor]: Taking taylor expansion of 1.0 in phi1
26.168 * [backup-simplify]: Simplify 1.0 into 1.0
26.168 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))) in phi1
26.168 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.168 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.168 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.168 * [backup-simplify]: Simplify 0.5 into 0.5
26.168 * [taylor]: Taking taylor expansion of phi1 in phi1
26.168 * [backup-simplify]: Simplify 0 into 0
26.168 * [backup-simplify]: Simplify 1 into 1
26.168 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.169 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.169 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) (pow lambda1 2)) in phi1
26.169 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
26.169 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.169 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.169 * [backup-simplify]: Simplify 0.5 into 0.5
26.169 * [taylor]: Taking taylor expansion of phi1 in phi1
26.169 * [backup-simplify]: Simplify 0 into 0
26.169 * [backup-simplify]: Simplify 1 into 1
26.170 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.176 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.176 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.176 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.177 * [backup-simplify]: Simplify lambda1 into lambda1
26.177 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.177 * [backup-simplify]: Simplify (* 0 (pow lambda1 2)) into 0
26.177 * [backup-simplify]: Simplify (* 1 0) into 0
26.177 * [backup-simplify]: Simplify (* 1.0 0) into 0
26.178 * [backup-simplify]: Simplify (- 0) into 0
26.178 * [taylor]: Taking taylor expansion of 0 in lambda1
26.178 * [backup-simplify]: Simplify 0 into 0
26.178 * [backup-simplify]: Simplify 0 into 0
26.178 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
26.178 * [backup-simplify]: Simplify (+ 0) into 0
26.179 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.179 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 (pow lambda1 2))) into 0
26.179 * [taylor]: Taking taylor expansion of 0 in lambda1
26.179 * [backup-simplify]: Simplify 0 into 0
26.179 * [backup-simplify]: Simplify 0 into 0
26.179 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
26.180 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.180 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.181 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
26.181 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.182 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.182 * [backup-simplify]: Simplify (+ 0 0) into 0
26.183 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi1))))) into 0
26.183 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
26.184 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.185 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.185 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
26.186 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.187 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.187 * [backup-simplify]: Simplify (+ 0 0) into 0
26.188 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (* 0.5 phi2))))) into 0
26.188 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))))) into 0
26.189 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (sin (* 0.5 phi2))) into (pow (sin (* 0.5 phi2)) 2)
26.189 * [backup-simplify]: Simplify (* 1 1) into 1
26.189 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
26.189 * [backup-simplify]: Simplify (* 1 (pow (sin (* 0.5 phi1)) 2)) into (pow (sin (* 0.5 phi1)) 2)
26.189 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) into (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))
26.189 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (cos (* 0.5 phi2))) into (pow (cos (* 0.5 phi2)) 2)
26.190 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
26.190 * [backup-simplify]: Simplify (* 1 1) into 1
26.190 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi1)) 2) 1) into (pow (cos (* 0.5 phi1)) 2)
26.190 * [backup-simplify]: Simplify (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2))
26.191 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
26.191 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.192 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.192 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
26.193 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.193 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.193 * [backup-simplify]: Simplify (- 0) into 0
26.194 * [backup-simplify]: Simplify (+ 0 0) into 0
26.194 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0
26.195 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
26.195 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.196 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.196 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
26.197 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.197 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.197 * [backup-simplify]: Simplify (- 0) into 0
26.197 * [backup-simplify]: Simplify (+ 0 0) into 0
26.198 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi2))))) into 0
26.198 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into 0
26.199 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) 0) into (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2))
26.199 * [backup-simplify]: Simplify (+ (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
26.200 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))) into (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)))
26.200 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
26.200 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
26.200 * [backup-simplify]: Simplify (- 0) into 0
26.200 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
26.200 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 1) into (sin (* 0.5 phi2))
26.200 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 0) into 0
26.200 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi2)) 0) into (sin (* 0.5 phi2))
26.201 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.201 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.201 * [backup-simplify]: Simplify (- 0) into 0
26.201 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.201 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.201 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.201 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.201 * [backup-simplify]: Simplify (* 1 1) into 1
26.201 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.202 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))
26.202 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))
26.202 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1))))) into (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
26.202 * [backup-simplify]: Simplify (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))
26.202 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
26.203 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.204 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.204 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
26.205 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.205 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.205 * [backup-simplify]: Simplify (+ 0 0) into 0
26.206 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
26.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.207 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.207 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
26.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.208 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.208 * [backup-simplify]: Simplify (- 0) into 0
26.209 * [backup-simplify]: Simplify (+ 0 0) into 0
26.209 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0
26.210 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.210 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.211 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
26.211 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.211 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.212 * [backup-simplify]: Simplify (+ 0 0) into 0
26.212 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0
26.213 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.213 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.214 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi2))) into 0
26.214 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.215 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.215 * [backup-simplify]: Simplify (- 0) into 0
26.215 * [backup-simplify]: Simplify (+ 0 0) into 0
26.216 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))))) into 0
26.216 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))))) into 0
26.217 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.217 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 1))) into 0
26.218 * [backup-simplify]: Simplify (+ 0 0) into 0
26.218 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 (+ phi2 phi1)))) into 0
26.219 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.219 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 0))) into 0
26.219 * [backup-simplify]: Simplify (- 0) into 0
26.219 * [backup-simplify]: Simplify (+ 0 0) into 0
26.220 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ phi2 phi1))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ phi2 phi1)))))) into 0
26.220 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) 0) (+ (* 0 0) (* 0 lambda1))) into 0
26.221 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) into 0
26.222 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* 0 0))) into 0
26.222 * [backup-simplify]: Simplify (+ 0 0) into 0
26.222 * [backup-simplify]: Simplify (+ (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) 0) into (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))
26.222 * [backup-simplify]: Simplify (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) into (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))
26.223 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (- (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))) into (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))
26.223 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))) in phi2
26.223 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) in phi2
26.223 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) in phi2
26.223 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi2)) 2) in phi2
26.223 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
26.223 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.223 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.224 * [backup-simplify]: Simplify 0.5 into 0.5
26.224 * [taylor]: Taking taylor expansion of phi2 in phi2
26.224 * [backup-simplify]: Simplify 0 into 0
26.224 * [backup-simplify]: Simplify 1 into 1
26.224 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.225 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.225 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi2
26.225 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
26.225 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.225 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.225 * [backup-simplify]: Simplify 0.5 into 0.5
26.225 * [taylor]: Taking taylor expansion of phi1 in phi2
26.225 * [backup-simplify]: Simplify phi1 into phi1
26.225 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.225 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.225 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.226 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.226 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.226 * [backup-simplify]: Simplify (- 0) into 0
26.226 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.226 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2)) in phi2
26.226 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi2)) 2) in phi2
26.226 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
26.226 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.226 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.226 * [backup-simplify]: Simplify 0.5 into 0.5
26.226 * [taylor]: Taking taylor expansion of phi2 in phi2
26.226 * [backup-simplify]: Simplify 0 into 0
26.226 * [backup-simplify]: Simplify 1 into 1
26.227 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.228 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.231 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.231 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi2
26.232 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
26.232 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.232 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.232 * [backup-simplify]: Simplify 0.5 into 0.5
26.232 * [taylor]: Taking taylor expansion of phi1 in phi2
26.232 * [backup-simplify]: Simplify phi1 into phi1
26.232 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.232 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.232 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.233 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.233 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.233 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.233 * [taylor]: Taking taylor expansion of (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))) in phi2
26.233 * [taylor]: Taking taylor expansion of 2 in phi2
26.233 * [backup-simplify]: Simplify 2 into 2
26.233 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) in phi2
26.233 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi2)) in phi2
26.233 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.233 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.233 * [backup-simplify]: Simplify 0.5 into 0.5
26.233 * [taylor]: Taking taylor expansion of phi2 in phi2
26.233 * [backup-simplify]: Simplify 0 into 0
26.233 * [backup-simplify]: Simplify 1 into 1
26.234 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.236 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.236 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) in phi2
26.236 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi2)) in phi2
26.236 * [taylor]: Taking taylor expansion of (* 0.5 phi2) in phi2
26.236 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.236 * [backup-simplify]: Simplify 0.5 into 0.5
26.236 * [taylor]: Taking taylor expansion of phi2 in phi2
26.236 * [backup-simplify]: Simplify 0 into 0
26.236 * [backup-simplify]: Simplify 1 into 1
26.237 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.238 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.238 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) in phi2
26.238 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi2
26.238 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.238 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.238 * [backup-simplify]: Simplify 0.5 into 0.5
26.238 * [taylor]: Taking taylor expansion of phi1 in phi2
26.238 * [backup-simplify]: Simplify phi1 into phi1
26.239 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.239 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.239 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.239 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi2
26.239 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi2
26.239 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.239 * [backup-simplify]: Simplify 0.5 into 0.5
26.239 * [taylor]: Taking taylor expansion of phi1 in phi2
26.239 * [backup-simplify]: Simplify phi1 into phi1
26.239 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
26.239 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
26.239 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
26.240 * [backup-simplify]: Simplify (* 1 1) into 1
26.240 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
26.240 * [backup-simplify]: Simplify (* 1 (pow (cos (* 0.5 phi1)) 2)) into (pow (cos (* 0.5 phi1)) 2)
26.240 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2)
26.240 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
26.241 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
26.241 * [backup-simplify]: Simplify (- 0) into 0
26.241 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
26.241 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 1) into (sin (* 0.5 phi1))
26.241 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 0) into 0
26.241 * [backup-simplify]: Simplify (+ (sin (* 0.5 phi1)) 0) into (sin (* 0.5 phi1))
26.242 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) into (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))
26.242 * [backup-simplify]: Simplify (* 0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) into 0
26.242 * [backup-simplify]: Simplify (* 1 0) into 0
26.243 * [backup-simplify]: Simplify (* 2 0) into 0
26.243 * [backup-simplify]: Simplify (- 0) into 0
26.244 * [backup-simplify]: Simplify (+ (pow (cos (* 0.5 phi1)) 2) 0) into (pow (cos (* 0.5 phi1)) 2)
26.244 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
26.244 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.244 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.244 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.244 * [backup-simplify]: Simplify 0.5 into 0.5
26.244 * [taylor]: Taking taylor expansion of phi1 in phi1
26.244 * [backup-simplify]: Simplify 0 into 0
26.244 * [backup-simplify]: Simplify 1 into 1
26.244 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.246 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.246 * [backup-simplify]: Simplify (* 1 1) into 1
26.246 * [taylor]: Taking taylor expansion of 1 in lambda1
26.247 * [backup-simplify]: Simplify 1 into 1
26.247 * [backup-simplify]: Simplify 1 into 1
26.247 * [backup-simplify]: Simplify (+ 0) into 0
26.248 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
26.248 * [backup-simplify]: Simplify (+ 1 0) into 1
26.249 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
26.251 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.252 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
26.252 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
26.252 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
26.252 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
26.253 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (* (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) lambda1)) into (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
26.254 * [backup-simplify]: Simplify (+ (* 2 (- (* 1.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) (* 0 (* (pow (cos (* 0.5 phi1)) 2) lambda1))) into (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))
26.254 * [backup-simplify]: Simplify (- (- (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))))) into (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)))
26.254 * [taylor]: Taking taylor expansion of (* 2.0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1))) in phi1
26.254 * [taylor]: Taking taylor expansion of 2.0 in phi1
26.254 * [backup-simplify]: Simplify 2.0 into 2.0
26.254 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) lambda1)) in phi1
26.254 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.254 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.254 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.254 * [backup-simplify]: Simplify 0.5 into 0.5
26.254 * [taylor]: Taking taylor expansion of phi1 in phi1
26.254 * [backup-simplify]: Simplify 0 into 0
26.254 * [backup-simplify]: Simplify 1 into 1
26.255 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.256 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.256 * [taylor]: Taking taylor expansion of (* (sin (* 0.5 phi1)) lambda1) in phi1
26.256 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
26.256 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.256 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.256 * [backup-simplify]: Simplify 0.5 into 0.5
26.257 * [taylor]: Taking taylor expansion of phi1 in phi1
26.257 * [backup-simplify]: Simplify 0 into 0
26.257 * [backup-simplify]: Simplify 1 into 1
26.257 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.258 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.259 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.259 * [backup-simplify]: Simplify lambda1 into lambda1
26.259 * [backup-simplify]: Simplify (* 0 lambda1) into 0
26.259 * [backup-simplify]: Simplify (* 1 0) into 0
26.259 * [backup-simplify]: Simplify (* 2.0 0) into 0
26.259 * [taylor]: Taking taylor expansion of 0 in lambda1
26.260 * [backup-simplify]: Simplify 0 into 0
26.260 * [backup-simplify]: Simplify 0 into 0
26.260 * [backup-simplify]: Simplify (* 0.5 0.5) into 0.25
26.260 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) (sin (* 0.5 phi1))) into (pow (sin (* 0.5 phi1)) 2)
26.260 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.261 * [backup-simplify]: Simplify (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) into (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))
26.261 * [backup-simplify]: Simplify (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) into (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)))
26.261 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
26.262 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.263 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.264 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
26.265 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.265 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.266 * [backup-simplify]: Simplify (- 0) into 0
26.266 * [backup-simplify]: Simplify (+ 0 0) into 0
26.267 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (* 0.5 phi1))))) into 0
26.267 * [backup-simplify]: Simplify (+ (* (pow (cos (* 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
26.270 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
26.275 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25)
26.277 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
26.278 * [backup-simplify]: Simplify (+ (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (- (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
26.279 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
26.280 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.280 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.281 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
26.282 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.283 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.283 * [backup-simplify]: Simplify (+ 0 0) into 0
26.284 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (pow lambda1 2)))) into 0
26.284 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.285 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.286 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 0) (* 0 phi1))) into 0
26.287 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.287 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.288 * [backup-simplify]: Simplify (- 0) into 0
26.288 * [backup-simplify]: Simplify (+ 0 0) into 0
26.289 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (* 0.5 phi1)) (pow lambda1 2))))) into 0
26.290 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 0))) into 0
26.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.292 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 0.5 0) (* 0 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2)))))) into 0
26.295 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
26.296 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* (- 0.125) 0))) into 0
26.297 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 (* 0.5 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (* 0 0))) into 0
26.298 * [backup-simplify]: Simplify (- 0) into 0
26.299 * [backup-simplify]: Simplify (+ (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) 0) into (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))))
26.299 * [taylor]: Taking taylor expansion of (- (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)))) in phi1
26.299 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
26.299 * [taylor]: Taking taylor expansion of 0.25 in phi1
26.299 * [backup-simplify]: Simplify 0.25 into 0.25
26.299 * [taylor]: Taking taylor expansion of (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
26.299 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
26.299 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
26.299 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.299 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.299 * [backup-simplify]: Simplify 0.5 into 0.5
26.299 * [taylor]: Taking taylor expansion of phi1 in phi1
26.299 * [backup-simplify]: Simplify 0 into 0
26.299 * [backup-simplify]: Simplify 1 into 1
26.300 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.301 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.304 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.304 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.304 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.304 * [backup-simplify]: Simplify lambda1 into lambda1
26.304 * [taylor]: Taking taylor expansion of (* 0.25 (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) in phi1
26.304 * [taylor]: Taking taylor expansion of 0.25 in phi1
26.304 * [backup-simplify]: Simplify 0.25 into 0.25
26.304 * [taylor]: Taking taylor expansion of (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2)) in phi1
26.304 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
26.304 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
26.304 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
26.304 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.304 * [backup-simplify]: Simplify 0.5 into 0.5
26.304 * [taylor]: Taking taylor expansion of phi1 in phi1
26.304 * [backup-simplify]: Simplify 0 into 0
26.304 * [backup-simplify]: Simplify 1 into 1
26.304 * [backup-simplify]: Simplify (* 0.5 0) into 0
26.306 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
26.306 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.306 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.306 * [backup-simplify]: Simplify lambda1 into lambda1
26.306 * [backup-simplify]: Simplify (* 1 1) into 1
26.306 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.307 * [backup-simplify]: Simplify (* 1 (pow lambda1 2)) into (pow lambda1 2)
26.307 * [backup-simplify]: Simplify (* 0.25 (pow lambda1 2)) into (* 0.25 (pow lambda1 2))
26.307 * [backup-simplify]: Simplify (- (* 0.25 (pow lambda1 2))) into (- (* 0.25 (pow lambda1 2)))
26.307 * [backup-simplify]: Simplify (+ 0 (- (* 0.25 (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2)))
26.307 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda1 2))) in lambda1
26.307 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
26.307 * [taylor]: Taking taylor expansion of 0.25 in lambda1
26.307 * [backup-simplify]: Simplify 0.25 into 0.25
26.307 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.307 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.307 * [backup-simplify]: Simplify 0 into 0
26.307 * [backup-simplify]: Simplify 1 into 1
26.308 * [backup-simplify]: Simplify (+ 0) into 0
26.308 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.317 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 lambda1)) into 0
26.318 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 lambda1)) into 0
26.318 * [backup-simplify]: Simplify (- 0) into 0
26.318 * [taylor]: Taking taylor expansion of 0 in lambda1
26.318 * [backup-simplify]: Simplify 0 into 0
26.318 * [backup-simplify]: Simplify 0 into 0
26.319 * [backup-simplify]: Simplify (+ (* lambda1 0) (* 0 lambda1)) into 0
26.321 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
26.322 * [backup-simplify]: Simplify (+ (* 0 0) (* 0.5 (pow lambda1 2))) into (* 0.5 (pow lambda1 2))
26.322 * [backup-simplify]: Simplify (+ 0) into 0
26.323 * [backup-simplify]: Simplify (+ (* 1 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
26.323 * [backup-simplify]: Simplify (+ (* 1.0 (* 0.5 (pow lambda1 2))) (* 0 0)) into (* 0.5 (pow lambda1 2))
26.323 * [backup-simplify]: Simplify (- (* 0.5 (pow lambda1 2))) into (- (* 0.5 (pow lambda1 2)))
26.323 * [taylor]: Taking taylor expansion of (- (* 0.5 (pow lambda1 2))) in lambda1
26.324 * [taylor]: Taking taylor expansion of (* 0.5 (pow lambda1 2)) in lambda1
26.324 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.324 * [backup-simplify]: Simplify 0.5 into 0.5
26.324 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.324 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.324 * [backup-simplify]: Simplify 0 into 0
26.324 * [backup-simplify]: Simplify 1 into 1
26.324 * [backup-simplify]: Simplify (+ (* lambda1 0) (+ (* 0 0) (* 0 lambda1))) into 0
26.327 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
26.331 * [backup-simplify]: Simplify (+ (* 1 (- 0.125)) (+ (* 0 0) (* (- 0.125) 1))) into (- 0.25)
26.332 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* (- 0.25) (pow lambda1 2)))) into (- (* 0.25 (pow lambda1 2)))
26.332 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow lambda1 2))) in lambda1
26.332 * [taylor]: Taking taylor expansion of (* 0.25 (pow lambda1 2)) in lambda1
26.332 * [taylor]: Taking taylor expansion of 0.25 in lambda1
26.332 * [backup-simplify]: Simplify 0.25 into 0.25
26.332 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.333 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.333 * [backup-simplify]: Simplify 0 into 0
26.333 * [backup-simplify]: Simplify 1 into 1
26.333 * [backup-simplify]: Simplify (+ (* 2 1) (* 0 0)) into 2
26.334 * [backup-simplify]: Simplify (- 2) into -2
26.334 * [backup-simplify]: Simplify -2 into -2
26.334 * [backup-simplify]: Simplify 0 into 0
26.334 * [backup-simplify]: Simplify 0 into 0
26.334 * [backup-simplify]: Simplify (* 1 1) into 1
26.334 * [backup-simplify]: Simplify 1 into 1
26.336 * [backup-simplify]: Simplify (+ (* 1 (pow (* lambda1 (* 1 (* 1 1))) 2)) (+ (* -2 (* lambda1 (* 1 (* 1 lambda2)))) (* 1 (pow (* 1 (* 1 (* 1 lambda2))) 2)))) into (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
26.339 * [backup-simplify]: Simplify (- (+ (* (pow (/ 1 lambda2) 2) (pow (- (* (cos (* 0.5 (/ 1 phi2))) (cos (* 0.5 (/ 1 phi1)))) (* (sin (* 0.5 (/ 1 phi2))) (sin (* 0.5 (/ 1 phi1))))) 2)) (* (pow (- (* (cos (* 0.5 (/ 1 phi2))) (cos (* 0.5 (/ 1 phi1)))) (* (sin (* (/ 1 phi2) 0.5)) (sin (* (/ 1 phi1) 0.5)))) 2) (pow (/ 1 lambda1) 2))) (* 2 (* (/ 1 lambda2) (* (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) (/ 1 lambda1))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))))
26.340 * [approximate]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in (lambda2 phi2 phi1 lambda1) around 0
26.340 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda1
26.340 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda1
26.340 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1
26.340 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
26.340 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
26.340 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
26.340 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.340 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.340 * [backup-simplify]: Simplify 0.5 into 0.5
26.340 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.340 * [backup-simplify]: Simplify phi1 into phi1
26.340 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.340 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.341 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.341 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.341 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.341 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
26.341 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
26.341 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.341 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.341 * [backup-simplify]: Simplify 0.5 into 0.5
26.341 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.341 * [backup-simplify]: Simplify phi2 into phi2
26.341 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.341 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.341 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.342 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.342 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.342 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.342 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
26.342 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.342 * [backup-simplify]: Simplify lambda2 into lambda2
26.342 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.342 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.343 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.343 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.343 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
26.343 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda1
26.343 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1
26.343 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
26.343 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
26.343 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
26.343 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.344 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.344 * [backup-simplify]: Simplify 0.5 into 0.5
26.344 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.344 * [backup-simplify]: Simplify phi1 into phi1
26.344 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.344 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.344 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.344 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.344 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.345 * [backup-simplify]: Simplify (- 0) into 0
26.345 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.345 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
26.345 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
26.345 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.345 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.345 * [backup-simplify]: Simplify 0.5 into 0.5
26.345 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.345 * [backup-simplify]: Simplify phi2 into phi2
26.345 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.346 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.346 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.346 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.346 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.346 * [backup-simplify]: Simplify (- 0) into 0
26.346 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.346 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.347 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.347 * [backup-simplify]: Simplify 0 into 0
26.347 * [backup-simplify]: Simplify 1 into 1
26.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.347 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.347 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.348 * [backup-simplify]: Simplify (* 1 1) into 1
26.348 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.348 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda1
26.348 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1
26.348 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
26.348 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
26.348 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
26.348 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.348 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.348 * [backup-simplify]: Simplify 0.5 into 0.5
26.349 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.349 * [backup-simplify]: Simplify phi1 into phi1
26.349 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.349 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.349 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.349 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.349 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.349 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.349 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
26.349 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
26.349 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.349 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.349 * [backup-simplify]: Simplify 0.5 into 0.5
26.349 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.349 * [backup-simplify]: Simplify phi2 into phi2
26.349 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.350 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.350 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.350 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.350 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.350 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.350 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.350 * [backup-simplify]: Simplify 0 into 0
26.350 * [backup-simplify]: Simplify 1 into 1
26.350 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.351 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.351 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.351 * [backup-simplify]: Simplify (* 1 1) into 1
26.352 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.352 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda1
26.352 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
26.352 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
26.352 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
26.352 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.352 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.352 * [backup-simplify]: Simplify 0.5 into 0.5
26.352 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.352 * [backup-simplify]: Simplify phi1 into phi1
26.352 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.352 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.352 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.353 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.353 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.353 * [backup-simplify]: Simplify (- 0) into 0
26.353 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.353 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
26.353 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
26.353 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.353 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.353 * [backup-simplify]: Simplify 0.5 into 0.5
26.353 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.353 * [backup-simplify]: Simplify phi2 into phi2
26.354 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.354 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.354 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.354 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.354 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.354 * [backup-simplify]: Simplify (- 0) into 0
26.354 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.355 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
26.355 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.355 * [backup-simplify]: Simplify lambda2 into lambda2
26.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.355 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.355 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.355 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.356 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
26.356 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda1
26.356 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
26.356 * [taylor]: Taking taylor expansion of 2 in lambda1
26.356 * [backup-simplify]: Simplify 2 into 2
26.356 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
26.356 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
26.356 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
26.356 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
26.356 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.356 * [backup-simplify]: Simplify 0.5 into 0.5
26.356 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
26.356 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
26.356 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.356 * [backup-simplify]: Simplify phi1 into phi1
26.356 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.356 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
26.357 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.357 * [backup-simplify]: Simplify phi2 into phi2
26.357 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.357 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
26.357 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
26.357 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.357 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.357 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.357 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
26.358 * [backup-simplify]: Simplify (- 0) into 0
26.358 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.358 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
26.358 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.358 * [backup-simplify]: Simplify lambda2 into lambda2
26.358 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.358 * [backup-simplify]: Simplify 0 into 0
26.358 * [backup-simplify]: Simplify 1 into 1
26.358 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.358 * [backup-simplify]: Simplify (* lambda2 0) into 0
26.358 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
26.359 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
26.359 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1
26.359 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda1
26.359 * [taylor]: Taking taylor expansion of 2 in lambda1
26.359 * [backup-simplify]: Simplify 2 into 2
26.359 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda1
26.359 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
26.359 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
26.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.359 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.359 * [backup-simplify]: Simplify 0.5 into 0.5
26.359 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.359 * [backup-simplify]: Simplify phi1 into phi1
26.359 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.359 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
26.359 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
26.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.359 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.359 * [backup-simplify]: Simplify 0.5 into 0.5
26.359 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.359 * [backup-simplify]: Simplify phi1 into phi1
26.359 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.359 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
26.359 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
26.359 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.359 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.359 * [backup-simplify]: Simplify 0.5 into 0.5
26.359 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.359 * [backup-simplify]: Simplify phi2 into phi2
26.359 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.359 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.359 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.359 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
26.360 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.360 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.360 * [backup-simplify]: Simplify 0.5 into 0.5
26.360 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.360 * [backup-simplify]: Simplify phi2 into phi2
26.360 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.360 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.360 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.360 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
26.360 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.360 * [backup-simplify]: Simplify lambda2 into lambda2
26.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.360 * [backup-simplify]: Simplify (- 0) into 0
26.360 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.360 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.360 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.361 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.361 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.361 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.361 * [backup-simplify]: Simplify (- 0) into 0
26.361 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.361 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.362 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.362 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.362 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
26.362 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1
26.362 * [taylor]: Taking taylor expansion of 2 in lambda1
26.362 * [backup-simplify]: Simplify 2 into 2
26.362 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1
26.362 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
26.362 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
26.362 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.362 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.362 * [backup-simplify]: Simplify 0.5 into 0.5
26.362 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.362 * [backup-simplify]: Simplify phi1 into phi1
26.362 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.362 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.363 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
26.363 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
26.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.363 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.363 * [backup-simplify]: Simplify 0.5 into 0.5
26.363 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.363 * [backup-simplify]: Simplify phi1 into phi1
26.363 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.363 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
26.363 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
26.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.363 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.363 * [backup-simplify]: Simplify 0.5 into 0.5
26.363 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.363 * [backup-simplify]: Simplify phi2 into phi2
26.363 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.363 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
26.363 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.363 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.363 * [backup-simplify]: Simplify 0.5 into 0.5
26.363 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.363 * [backup-simplify]: Simplify phi2 into phi2
26.363 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.363 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.363 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.363 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.363 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.363 * [backup-simplify]: Simplify 0 into 0
26.363 * [backup-simplify]: Simplify 1 into 1
26.363 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.364 * [backup-simplify]: Simplify (- 0) into 0
26.364 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.364 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.364 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.364 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.364 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.365 * [backup-simplify]: Simplify (- 0) into 0
26.365 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.365 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.365 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.366 * [backup-simplify]: Simplify (* 1 1) into 1
26.366 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.366 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi1
26.366 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi1
26.366 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1
26.366 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
26.366 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
26.366 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
26.366 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.366 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.366 * [backup-simplify]: Simplify 0.5 into 0.5
26.366 * [taylor]: Taking taylor expansion of phi1 in phi1
26.366 * [backup-simplify]: Simplify 0 into 0
26.366 * [backup-simplify]: Simplify 1 into 1
26.366 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.366 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.366 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
26.366 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
26.366 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.366 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.367 * [backup-simplify]: Simplify 0.5 into 0.5
26.367 * [taylor]: Taking taylor expansion of phi2 in phi1
26.367 * [backup-simplify]: Simplify phi2 into phi2
26.367 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.367 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.367 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.367 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.367 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.367 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.367 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.367 * [backup-simplify]: Simplify lambda2 into lambda2
26.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.367 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.367 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.367 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.368 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
26.368 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi1
26.368 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1
26.368 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
26.368 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
26.368 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
26.368 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.368 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.368 * [backup-simplify]: Simplify 0.5 into 0.5
26.368 * [taylor]: Taking taylor expansion of phi1 in phi1
26.368 * [backup-simplify]: Simplify 0 into 0
26.368 * [backup-simplify]: Simplify 1 into 1
26.368 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.368 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.368 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
26.368 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
26.368 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.368 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.368 * [backup-simplify]: Simplify 0.5 into 0.5
26.368 * [taylor]: Taking taylor expansion of phi2 in phi1
26.368 * [backup-simplify]: Simplify phi2 into phi2
26.369 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.369 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.369 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.369 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.369 * [backup-simplify]: Simplify (- 0) into 0
26.369 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.369 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.369 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.369 * [backup-simplify]: Simplify lambda1 into lambda1
26.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.369 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.370 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.370 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.370 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.370 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi1
26.370 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1
26.370 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
26.370 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
26.370 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
26.370 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.370 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.370 * [backup-simplify]: Simplify 0.5 into 0.5
26.370 * [taylor]: Taking taylor expansion of phi1 in phi1
26.370 * [backup-simplify]: Simplify 0 into 0
26.370 * [backup-simplify]: Simplify 1 into 1
26.370 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.370 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.370 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
26.371 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
26.371 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.371 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.371 * [backup-simplify]: Simplify 0.5 into 0.5
26.371 * [taylor]: Taking taylor expansion of phi2 in phi1
26.371 * [backup-simplify]: Simplify phi2 into phi2
26.371 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.371 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.371 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.371 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.371 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.371 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.371 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.371 * [backup-simplify]: Simplify lambda1 into lambda1
26.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.371 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.371 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.371 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.372 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.372 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi1
26.372 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
26.372 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
26.372 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
26.372 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.372 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.372 * [backup-simplify]: Simplify 0.5 into 0.5
26.372 * [taylor]: Taking taylor expansion of phi1 in phi1
26.372 * [backup-simplify]: Simplify 0 into 0
26.372 * [backup-simplify]: Simplify 1 into 1
26.372 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.372 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.372 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
26.372 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
26.372 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.372 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.372 * [backup-simplify]: Simplify 0.5 into 0.5
26.372 * [taylor]: Taking taylor expansion of phi2 in phi1
26.372 * [backup-simplify]: Simplify phi2 into phi2
26.373 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.373 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.373 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.373 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.373 * [backup-simplify]: Simplify (- 0) into 0
26.373 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.373 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.373 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.373 * [backup-simplify]: Simplify lambda2 into lambda2
26.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.373 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.374 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.374 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.374 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
26.374 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi1
26.374 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
26.374 * [taylor]: Taking taylor expansion of 2 in phi1
26.374 * [backup-simplify]: Simplify 2 into 2
26.374 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
26.374 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
26.374 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
26.374 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
26.374 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.374 * [backup-simplify]: Simplify 0.5 into 0.5
26.374 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
26.374 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
26.374 * [taylor]: Taking taylor expansion of phi1 in phi1
26.374 * [backup-simplify]: Simplify 0 into 0
26.374 * [backup-simplify]: Simplify 1 into 1
26.374 * [backup-simplify]: Simplify (/ 1 1) into 1
26.374 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
26.374 * [taylor]: Taking taylor expansion of phi2 in phi1
26.374 * [backup-simplify]: Simplify phi2 into phi2
26.375 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.375 * [backup-simplify]: Simplify (+ 1 0) into 1
26.375 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
26.375 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.375 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
26.375 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.375 * [backup-simplify]: Simplify lambda2 into lambda2
26.375 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.375 * [backup-simplify]: Simplify lambda1 into lambda1
26.376 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.376 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
26.376 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
26.376 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1
26.376 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi1
26.376 * [taylor]: Taking taylor expansion of 2 in phi1
26.376 * [backup-simplify]: Simplify 2 into 2
26.376 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi1
26.376 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
26.376 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
26.376 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.376 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.376 * [backup-simplify]: Simplify 0.5 into 0.5
26.376 * [taylor]: Taking taylor expansion of phi1 in phi1
26.376 * [backup-simplify]: Simplify 0 into 0
26.376 * [backup-simplify]: Simplify 1 into 1
26.376 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.376 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.376 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
26.376 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
26.377 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.377 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.377 * [backup-simplify]: Simplify 0.5 into 0.5
26.377 * [taylor]: Taking taylor expansion of phi1 in phi1
26.377 * [backup-simplify]: Simplify 0 into 0
26.377 * [backup-simplify]: Simplify 1 into 1
26.377 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.377 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.377 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
26.377 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
26.377 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.377 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.377 * [backup-simplify]: Simplify 0.5 into 0.5
26.377 * [taylor]: Taking taylor expansion of phi2 in phi1
26.377 * [backup-simplify]: Simplify phi2 into phi2
26.377 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.378 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.378 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.378 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
26.378 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.378 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.378 * [backup-simplify]: Simplify 0.5 into 0.5
26.378 * [taylor]: Taking taylor expansion of phi2 in phi1
26.378 * [backup-simplify]: Simplify phi2 into phi2
26.378 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.378 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.378 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.378 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.378 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.378 * [backup-simplify]: Simplify lambda2 into lambda2
26.378 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.378 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.378 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.379 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.379 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.379 * [backup-simplify]: Simplify (- 0) into 0
26.379 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.379 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.380 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.380 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.380 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.380 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
26.380 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1
26.381 * [taylor]: Taking taylor expansion of 2 in phi1
26.381 * [backup-simplify]: Simplify 2 into 2
26.381 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1
26.381 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
26.381 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
26.381 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.381 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.381 * [backup-simplify]: Simplify 0.5 into 0.5
26.381 * [taylor]: Taking taylor expansion of phi1 in phi1
26.381 * [backup-simplify]: Simplify 0 into 0
26.381 * [backup-simplify]: Simplify 1 into 1
26.381 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.382 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.382 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
26.382 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
26.382 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.382 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.382 * [backup-simplify]: Simplify 0.5 into 0.5
26.382 * [taylor]: Taking taylor expansion of phi1 in phi1
26.382 * [backup-simplify]: Simplify 0 into 0
26.382 * [backup-simplify]: Simplify 1 into 1
26.382 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.382 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.382 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
26.382 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
26.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.383 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.383 * [backup-simplify]: Simplify 0.5 into 0.5
26.383 * [taylor]: Taking taylor expansion of phi2 in phi1
26.383 * [backup-simplify]: Simplify phi2 into phi2
26.383 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.383 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
26.383 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.383 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.383 * [backup-simplify]: Simplify 0.5 into 0.5
26.383 * [taylor]: Taking taylor expansion of phi2 in phi1
26.383 * [backup-simplify]: Simplify phi2 into phi2
26.383 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.383 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.383 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.383 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.383 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.383 * [backup-simplify]: Simplify lambda1 into lambda1
26.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.384 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.384 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.384 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.384 * [backup-simplify]: Simplify (- 0) into 0
26.385 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.385 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.385 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.385 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.385 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.386 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
26.386 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in phi2
26.386 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in phi2
26.386 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2
26.386 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
26.386 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.386 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.386 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.386 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.386 * [backup-simplify]: Simplify 0.5 into 0.5
26.386 * [taylor]: Taking taylor expansion of phi1 in phi2
26.386 * [backup-simplify]: Simplify phi1 into phi1
26.386 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.386 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.387 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.387 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.387 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.387 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.387 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.387 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.387 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.387 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.387 * [backup-simplify]: Simplify 0.5 into 0.5
26.387 * [taylor]: Taking taylor expansion of phi2 in phi2
26.387 * [backup-simplify]: Simplify 0 into 0
26.387 * [backup-simplify]: Simplify 1 into 1
26.388 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.388 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.388 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.388 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.388 * [backup-simplify]: Simplify lambda2 into lambda2
26.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.388 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.389 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.389 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.389 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2))
26.389 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in phi2
26.389 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2
26.389 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
26.389 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.389 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.389 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.389 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.389 * [backup-simplify]: Simplify 0.5 into 0.5
26.389 * [taylor]: Taking taylor expansion of phi1 in phi2
26.390 * [backup-simplify]: Simplify phi1 into phi1
26.390 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.390 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.390 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.390 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.390 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.390 * [backup-simplify]: Simplify (- 0) into 0
26.391 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.391 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.391 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.391 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.391 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.391 * [backup-simplify]: Simplify 0.5 into 0.5
26.391 * [taylor]: Taking taylor expansion of phi2 in phi2
26.391 * [backup-simplify]: Simplify 0 into 0
26.391 * [backup-simplify]: Simplify 1 into 1
26.391 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.391 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.391 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.391 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.391 * [backup-simplify]: Simplify lambda1 into lambda1
26.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.392 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.392 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.392 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.393 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.393 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in phi2
26.393 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2
26.393 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
26.393 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.393 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.393 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.393 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.393 * [backup-simplify]: Simplify 0.5 into 0.5
26.393 * [taylor]: Taking taylor expansion of phi1 in phi2
26.393 * [backup-simplify]: Simplify phi1 into phi1
26.393 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.393 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.393 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.393 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.394 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.394 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.394 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.394 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.394 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.394 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.394 * [backup-simplify]: Simplify 0.5 into 0.5
26.394 * [taylor]: Taking taylor expansion of phi2 in phi2
26.394 * [backup-simplify]: Simplify 0 into 0
26.394 * [backup-simplify]: Simplify 1 into 1
26.395 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.395 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.395 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.395 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.395 * [backup-simplify]: Simplify lambda1 into lambda1
26.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.395 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.396 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.396 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.396 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.396 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in phi2
26.396 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
26.396 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.396 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.396 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.396 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.396 * [backup-simplify]: Simplify 0.5 into 0.5
26.396 * [taylor]: Taking taylor expansion of phi1 in phi2
26.396 * [backup-simplify]: Simplify phi1 into phi1
26.397 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.397 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.397 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.397 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.397 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.397 * [backup-simplify]: Simplify (- 0) into 0
26.397 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.398 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.398 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.398 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.398 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.398 * [backup-simplify]: Simplify 0.5 into 0.5
26.398 * [taylor]: Taking taylor expansion of phi2 in phi2
26.398 * [backup-simplify]: Simplify 0 into 0
26.398 * [backup-simplify]: Simplify 1 into 1
26.398 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.398 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.398 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.398 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.398 * [backup-simplify]: Simplify lambda2 into lambda2
26.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.399 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.399 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.399 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.400 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))
26.400 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in phi2
26.400 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
26.400 * [taylor]: Taking taylor expansion of 2 in phi2
26.400 * [backup-simplify]: Simplify 2 into 2
26.400 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
26.400 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
26.400 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
26.400 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
26.400 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.400 * [backup-simplify]: Simplify 0.5 into 0.5
26.400 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
26.400 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
26.400 * [taylor]: Taking taylor expansion of phi1 in phi2
26.400 * [backup-simplify]: Simplify phi1 into phi1
26.400 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.400 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
26.400 * [taylor]: Taking taylor expansion of phi2 in phi2
26.400 * [backup-simplify]: Simplify 0 into 0
26.400 * [backup-simplify]: Simplify 1 into 1
26.401 * [backup-simplify]: Simplify (/ 1 1) into 1
26.401 * [backup-simplify]: Simplify (+ 0 1) into 1
26.402 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
26.402 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.402 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
26.402 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.402 * [backup-simplify]: Simplify lambda2 into lambda2
26.402 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.402 * [backup-simplify]: Simplify lambda1 into lambda1
26.403 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.403 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
26.403 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
26.403 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2
26.403 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in phi2
26.403 * [taylor]: Taking taylor expansion of 2 in phi2
26.403 * [backup-simplify]: Simplify 2 into 2
26.403 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in phi2
26.403 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
26.403 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.403 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.403 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.403 * [backup-simplify]: Simplify 0.5 into 0.5
26.403 * [taylor]: Taking taylor expansion of phi1 in phi2
26.403 * [backup-simplify]: Simplify phi1 into phi1
26.403 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.404 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
26.404 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.404 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.404 * [backup-simplify]: Simplify 0.5 into 0.5
26.404 * [taylor]: Taking taylor expansion of phi1 in phi2
26.404 * [backup-simplify]: Simplify phi1 into phi1
26.404 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.404 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.404 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.404 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
26.404 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.404 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.404 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.404 * [backup-simplify]: Simplify 0.5 into 0.5
26.404 * [taylor]: Taking taylor expansion of phi2 in phi2
26.404 * [backup-simplify]: Simplify 0 into 0
26.404 * [backup-simplify]: Simplify 1 into 1
26.405 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.405 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.405 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.405 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.405 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.405 * [backup-simplify]: Simplify 0.5 into 0.5
26.405 * [taylor]: Taking taylor expansion of phi2 in phi2
26.405 * [backup-simplify]: Simplify 0 into 0
26.405 * [backup-simplify]: Simplify 1 into 1
26.406 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.406 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.406 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.406 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.406 * [backup-simplify]: Simplify lambda2 into lambda2
26.406 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.406 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.406 * [backup-simplify]: Simplify (- 0) into 0
26.407 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.407 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.407 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.407 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.407 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.407 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.408 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.408 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.408 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))
26.408 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2
26.408 * [taylor]: Taking taylor expansion of 2 in phi2
26.408 * [backup-simplify]: Simplify 2 into 2
26.408 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2
26.408 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
26.408 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.409 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.409 * [backup-simplify]: Simplify 0.5 into 0.5
26.409 * [taylor]: Taking taylor expansion of phi1 in phi2
26.409 * [backup-simplify]: Simplify phi1 into phi1
26.409 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.409 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.409 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
26.409 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.409 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.409 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.409 * [backup-simplify]: Simplify 0.5 into 0.5
26.409 * [taylor]: Taking taylor expansion of phi1 in phi2
26.409 * [backup-simplify]: Simplify phi1 into phi1
26.409 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.409 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.409 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.409 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
26.409 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.410 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.410 * [backup-simplify]: Simplify 0.5 into 0.5
26.410 * [taylor]: Taking taylor expansion of phi2 in phi2
26.410 * [backup-simplify]: Simplify 0 into 0
26.410 * [backup-simplify]: Simplify 1 into 1
26.410 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.410 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.410 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.410 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.410 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.410 * [backup-simplify]: Simplify 0.5 into 0.5
26.410 * [taylor]: Taking taylor expansion of phi2 in phi2
26.411 * [backup-simplify]: Simplify 0 into 0
26.411 * [backup-simplify]: Simplify 1 into 1
26.411 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.411 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.411 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.411 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.411 * [backup-simplify]: Simplify lambda1 into lambda1
26.411 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.411 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.412 * [backup-simplify]: Simplify (- 0) into 0
26.412 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.412 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.412 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.412 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.413 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.413 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.413 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.414 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
26.414 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda2
26.414 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda2
26.414 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
26.414 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
26.414 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
26.414 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
26.414 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.414 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.414 * [backup-simplify]: Simplify 0.5 into 0.5
26.414 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.414 * [backup-simplify]: Simplify phi1 into phi1
26.414 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.414 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.414 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.415 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.415 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.415 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.415 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
26.415 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
26.415 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.415 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.415 * [backup-simplify]: Simplify 0.5 into 0.5
26.415 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.415 * [backup-simplify]: Simplify phi2 into phi2
26.415 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.415 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.415 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.415 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.416 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.416 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.416 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.416 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.416 * [backup-simplify]: Simplify 0 into 0
26.416 * [backup-simplify]: Simplify 1 into 1
26.416 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.416 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.417 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.417 * [backup-simplify]: Simplify (* 1 1) into 1
26.417 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.417 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2
26.418 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2
26.418 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
26.418 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
26.418 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
26.418 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.418 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.418 * [backup-simplify]: Simplify 0.5 into 0.5
26.418 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.418 * [backup-simplify]: Simplify phi1 into phi1
26.418 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.418 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.418 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.418 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.418 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.419 * [backup-simplify]: Simplify (- 0) into 0
26.419 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.419 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
26.419 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
26.419 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.419 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.419 * [backup-simplify]: Simplify 0.5 into 0.5
26.419 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.419 * [backup-simplify]: Simplify phi2 into phi2
26.419 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.419 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.419 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.419 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.420 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.420 * [backup-simplify]: Simplify (- 0) into 0
26.420 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.420 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.420 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.420 * [backup-simplify]: Simplify lambda1 into lambda1
26.420 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.421 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.421 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.421 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.421 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.422 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2
26.422 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2
26.422 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
26.422 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
26.422 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
26.422 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.422 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.422 * [backup-simplify]: Simplify 0.5 into 0.5
26.422 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.422 * [backup-simplify]: Simplify phi1 into phi1
26.422 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.422 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.422 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.422 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.422 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.422 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.423 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
26.423 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
26.423 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.423 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.423 * [backup-simplify]: Simplify 0.5 into 0.5
26.423 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.423 * [backup-simplify]: Simplify phi2 into phi2
26.423 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.423 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.423 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.423 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.423 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.423 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.423 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.423 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.423 * [backup-simplify]: Simplify lambda1 into lambda1
26.424 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.424 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.424 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.424 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.425 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.425 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
26.425 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
26.425 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
26.425 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
26.425 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.425 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.425 * [backup-simplify]: Simplify 0.5 into 0.5
26.425 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.425 * [backup-simplify]: Simplify phi1 into phi1
26.425 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.425 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.425 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.425 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.426 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.426 * [backup-simplify]: Simplify (- 0) into 0
26.426 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.426 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
26.426 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
26.426 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.426 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.426 * [backup-simplify]: Simplify 0.5 into 0.5
26.426 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.426 * [backup-simplify]: Simplify phi2 into phi2
26.426 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.427 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.427 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.427 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.427 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.427 * [backup-simplify]: Simplify (- 0) into 0
26.427 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.427 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.427 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.428 * [backup-simplify]: Simplify 0 into 0
26.428 * [backup-simplify]: Simplify 1 into 1
26.428 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.428 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.428 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.429 * [backup-simplify]: Simplify (* 1 1) into 1
26.429 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.429 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda2
26.429 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
26.429 * [taylor]: Taking taylor expansion of 2 in lambda2
26.429 * [backup-simplify]: Simplify 2 into 2
26.429 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
26.429 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
26.429 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
26.430 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
26.430 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.430 * [backup-simplify]: Simplify 0.5 into 0.5
26.430 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
26.430 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
26.430 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.430 * [backup-simplify]: Simplify phi1 into phi1
26.430 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.430 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
26.430 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.430 * [backup-simplify]: Simplify phi2 into phi2
26.430 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.430 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
26.430 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
26.430 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.431 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.431 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.431 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
26.432 * [backup-simplify]: Simplify (- 0) into 0
26.432 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.432 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
26.432 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.432 * [backup-simplify]: Simplify 0 into 0
26.432 * [backup-simplify]: Simplify 1 into 1
26.432 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.432 * [backup-simplify]: Simplify lambda1 into lambda1
26.432 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.432 * [backup-simplify]: Simplify (* 0 lambda1) into 0
26.433 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
26.433 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
26.433 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda2
26.433 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2
26.433 * [taylor]: Taking taylor expansion of 2 in lambda2
26.433 * [backup-simplify]: Simplify 2 into 2
26.433 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2
26.433 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
26.433 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
26.434 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.434 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.434 * [backup-simplify]: Simplify 0.5 into 0.5
26.434 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.434 * [backup-simplify]: Simplify phi1 into phi1
26.434 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.434 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.434 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.434 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
26.434 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
26.434 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.434 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.434 * [backup-simplify]: Simplify 0.5 into 0.5
26.434 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.434 * [backup-simplify]: Simplify phi1 into phi1
26.434 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.434 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.434 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.434 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
26.434 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
26.435 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.435 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.435 * [backup-simplify]: Simplify 0.5 into 0.5
26.435 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.435 * [backup-simplify]: Simplify phi2 into phi2
26.435 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.435 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.435 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.435 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
26.435 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.435 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.435 * [backup-simplify]: Simplify 0.5 into 0.5
26.435 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.435 * [backup-simplify]: Simplify phi2 into phi2
26.435 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.435 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.435 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.435 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.435 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.435 * [backup-simplify]: Simplify 0 into 0
26.435 * [backup-simplify]: Simplify 1 into 1
26.436 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.436 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.436 * [backup-simplify]: Simplify (- 0) into 0
26.436 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.436 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.436 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.436 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.437 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.437 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.437 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.437 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.437 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.437 * [backup-simplify]: Simplify (- 0) into 0
26.437 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.437 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.437 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.438 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.438 * [backup-simplify]: Simplify (* 1 1) into 1
26.438 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.438 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda2
26.438 * [taylor]: Taking taylor expansion of 2 in lambda2
26.438 * [backup-simplify]: Simplify 2 into 2
26.438 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda2
26.438 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
26.438 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
26.438 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.438 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.438 * [backup-simplify]: Simplify 0.5 into 0.5
26.438 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.438 * [backup-simplify]: Simplify phi1 into phi1
26.438 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.438 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.438 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.438 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
26.438 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
26.439 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.439 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.439 * [backup-simplify]: Simplify 0.5 into 0.5
26.439 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.439 * [backup-simplify]: Simplify phi1 into phi1
26.439 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.439 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.439 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.439 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
26.439 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
26.439 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.439 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.439 * [backup-simplify]: Simplify 0.5 into 0.5
26.439 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.439 * [backup-simplify]: Simplify phi2 into phi2
26.439 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.439 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.439 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.439 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
26.439 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.439 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.439 * [backup-simplify]: Simplify 0.5 into 0.5
26.439 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.439 * [backup-simplify]: Simplify phi2 into phi2
26.439 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.439 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.439 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.439 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.439 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.439 * [backup-simplify]: Simplify lambda1 into lambda1
26.439 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.439 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.440 * [backup-simplify]: Simplify (- 0) into 0
26.440 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.440 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.440 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.440 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.440 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.440 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.440 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.440 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.440 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.441 * [backup-simplify]: Simplify (- 0) into 0
26.441 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.441 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.441 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.441 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.441 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.441 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
26.441 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))))) in lambda2
26.442 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))))) in lambda2
26.442 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
26.442 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
26.442 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
26.442 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
26.442 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.442 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.442 * [backup-simplify]: Simplify 0.5 into 0.5
26.442 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.442 * [backup-simplify]: Simplify phi1 into phi1
26.442 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.442 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.442 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.442 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.442 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.442 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.442 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
26.442 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
26.442 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.442 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.442 * [backup-simplify]: Simplify 0.5 into 0.5
26.442 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.442 * [backup-simplify]: Simplify phi2 into phi2
26.442 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.442 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.442 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.442 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.443 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.443 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.443 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.443 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.443 * [backup-simplify]: Simplify 0 into 0
26.443 * [backup-simplify]: Simplify 1 into 1
26.443 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.443 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.443 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.443 * [backup-simplify]: Simplify (* 1 1) into 1
26.444 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.444 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)))) in lambda2
26.444 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2
26.444 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
26.444 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
26.444 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
26.444 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.444 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.444 * [backup-simplify]: Simplify 0.5 into 0.5
26.444 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.444 * [backup-simplify]: Simplify phi1 into phi1
26.444 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.444 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.444 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.444 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.445 * [backup-simplify]: Simplify (- 0) into 0
26.445 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.445 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
26.445 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
26.445 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.445 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.445 * [backup-simplify]: Simplify 0.5 into 0.5
26.445 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.445 * [backup-simplify]: Simplify phi2 into phi2
26.445 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.445 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.445 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.445 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.445 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.446 * [backup-simplify]: Simplify (- 0) into 0
26.446 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.446 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.446 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.446 * [backup-simplify]: Simplify lambda1 into lambda1
26.446 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.446 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.446 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.446 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.447 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.447 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2))) in lambda2
26.447 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda2
26.447 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda2
26.447 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda2
26.447 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
26.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.447 * [backup-simplify]: Simplify 0.5 into 0.5
26.447 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.447 * [backup-simplify]: Simplify phi1 into phi1
26.447 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.447 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.447 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.447 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.447 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.447 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.447 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda2
26.447 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
26.447 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.447 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.447 * [backup-simplify]: Simplify 0.5 into 0.5
26.447 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.447 * [backup-simplify]: Simplify phi2 into phi2
26.447 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.447 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.447 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.447 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.447 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.448 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.448 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.448 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.448 * [backup-simplify]: Simplify lambda1 into lambda1
26.448 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.448 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.448 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.448 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.448 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.448 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda2 2)) in lambda2
26.448 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda2
26.448 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda2
26.448 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
26.448 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.448 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.448 * [backup-simplify]: Simplify 0.5 into 0.5
26.449 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.449 * [backup-simplify]: Simplify phi1 into phi1
26.449 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.449 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.449 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.449 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.449 * [backup-simplify]: Simplify (- 0) into 0
26.449 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.449 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda2
26.449 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
26.449 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.449 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.449 * [backup-simplify]: Simplify 0.5 into 0.5
26.449 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.449 * [backup-simplify]: Simplify phi2 into phi2
26.449 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.449 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.450 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.450 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.450 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.450 * [backup-simplify]: Simplify (- 0) into 0
26.450 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.450 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.450 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.450 * [backup-simplify]: Simplify 0 into 0
26.450 * [backup-simplify]: Simplify 1 into 1
26.450 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.450 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.451 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.451 * [backup-simplify]: Simplify (* 1 1) into 1
26.451 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.451 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) in lambda2
26.451 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
26.451 * [taylor]: Taking taylor expansion of 2 in lambda2
26.451 * [backup-simplify]: Simplify 2 into 2
26.451 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
26.451 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
26.451 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
26.451 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
26.451 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.451 * [backup-simplify]: Simplify 0.5 into 0.5
26.451 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
26.451 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
26.451 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.451 * [backup-simplify]: Simplify phi1 into phi1
26.451 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.451 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
26.451 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.451 * [backup-simplify]: Simplify phi2 into phi2
26.452 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.452 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
26.452 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
26.452 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.452 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.452 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.452 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
26.452 * [backup-simplify]: Simplify (- 0) into 0
26.453 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.453 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
26.453 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.453 * [backup-simplify]: Simplify 0 into 0
26.453 * [backup-simplify]: Simplify 1 into 1
26.453 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.453 * [backup-simplify]: Simplify lambda1 into lambda1
26.453 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.453 * [backup-simplify]: Simplify (* 0 lambda1) into 0
26.453 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
26.454 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
26.454 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda2
26.454 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2))) in lambda2
26.454 * [taylor]: Taking taylor expansion of 2 in lambda2
26.454 * [backup-simplify]: Simplify 2 into 2
26.454 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda2 2)) in lambda2
26.454 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
26.454 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
26.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.454 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.454 * [backup-simplify]: Simplify 0.5 into 0.5
26.454 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.454 * [backup-simplify]: Simplify phi1 into phi1
26.454 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.454 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
26.454 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
26.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.454 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.454 * [backup-simplify]: Simplify 0.5 into 0.5
26.454 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.454 * [backup-simplify]: Simplify phi1 into phi1
26.454 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.454 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
26.454 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
26.454 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.454 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.454 * [backup-simplify]: Simplify 0.5 into 0.5
26.454 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.454 * [backup-simplify]: Simplify phi2 into phi2
26.454 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.454 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.454 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.455 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
26.455 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.455 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.455 * [backup-simplify]: Simplify 0.5 into 0.5
26.455 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.455 * [backup-simplify]: Simplify phi2 into phi2
26.455 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.455 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.455 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.455 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.455 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.455 * [backup-simplify]: Simplify 0 into 0
26.455 * [backup-simplify]: Simplify 1 into 1
26.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.455 * [backup-simplify]: Simplify (- 0) into 0
26.455 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.455 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.455 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.456 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.456 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.456 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.456 * [backup-simplify]: Simplify (- 0) into 0
26.456 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.456 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.457 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.457 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.457 * [backup-simplify]: Simplify (* 1 1) into 1
26.457 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.457 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda2
26.457 * [taylor]: Taking taylor expansion of 2 in lambda2
26.457 * [backup-simplify]: Simplify 2 into 2
26.457 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda2
26.457 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda2
26.457 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda2
26.457 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.457 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.457 * [backup-simplify]: Simplify 0.5 into 0.5
26.457 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.457 * [backup-simplify]: Simplify phi1 into phi1
26.458 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.458 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda2
26.458 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda2
26.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda2
26.458 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.458 * [backup-simplify]: Simplify 0.5 into 0.5
26.458 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.458 * [backup-simplify]: Simplify phi1 into phi1
26.458 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.458 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda2
26.458 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda2
26.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.458 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.458 * [backup-simplify]: Simplify 0.5 into 0.5
26.458 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.458 * [backup-simplify]: Simplify phi2 into phi2
26.458 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.458 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda2
26.458 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda2
26.458 * [taylor]: Taking taylor expansion of 0.5 in lambda2
26.458 * [backup-simplify]: Simplify 0.5 into 0.5
26.458 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.458 * [backup-simplify]: Simplify phi2 into phi2
26.458 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.458 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.458 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.458 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.458 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.459 * [backup-simplify]: Simplify lambda1 into lambda1
26.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.459 * [backup-simplify]: Simplify (- 0) into 0
26.459 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.459 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.459 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.459 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.459 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.460 * [backup-simplify]: Simplify (- 0) into 0
26.460 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.460 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.460 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.460 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.461 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
26.461 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.461 * [backup-simplify]: Simplify (+ 0 (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.462 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
26.462 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
26.462 * [backup-simplify]: Simplify (+ (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) 0) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
26.463 * [backup-simplify]: Simplify (+ 0 (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
26.463 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.464 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.464 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi2
26.464 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi2
26.464 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
26.464 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.464 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.464 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.464 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.464 * [backup-simplify]: Simplify 0.5 into 0.5
26.464 * [taylor]: Taking taylor expansion of phi1 in phi2
26.464 * [backup-simplify]: Simplify phi1 into phi1
26.464 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.464 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.464 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.464 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.464 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.464 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.464 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.464 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.464 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.464 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.464 * [backup-simplify]: Simplify 0.5 into 0.5
26.465 * [taylor]: Taking taylor expansion of phi2 in phi2
26.465 * [backup-simplify]: Simplify 0 into 0
26.465 * [backup-simplify]: Simplify 1 into 1
26.465 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.465 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
26.465 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.465 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.465 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.465 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.465 * [backup-simplify]: Simplify 0.5 into 0.5
26.465 * [taylor]: Taking taylor expansion of phi1 in phi2
26.465 * [backup-simplify]: Simplify phi1 into phi1
26.465 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.465 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.465 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.465 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.466 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.466 * [backup-simplify]: Simplify (- 0) into 0
26.466 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.466 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.466 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.466 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.466 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.466 * [backup-simplify]: Simplify 0.5 into 0.5
26.466 * [taylor]: Taking taylor expansion of phi2 in phi2
26.466 * [backup-simplify]: Simplify 0 into 0
26.466 * [backup-simplify]: Simplify 1 into 1
26.466 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.466 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.466 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi2
26.466 * [taylor]: Taking taylor expansion of 2 in phi2
26.467 * [backup-simplify]: Simplify 2 into 2
26.467 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
26.467 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.467 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.467 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.467 * [backup-simplify]: Simplify 0.5 into 0.5
26.467 * [taylor]: Taking taylor expansion of phi1 in phi2
26.467 * [backup-simplify]: Simplify phi1 into phi1
26.467 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.467 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.467 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.467 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
26.467 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.467 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.467 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.467 * [backup-simplify]: Simplify 0.5 into 0.5
26.467 * [taylor]: Taking taylor expansion of phi1 in phi2
26.467 * [backup-simplify]: Simplify phi1 into phi1
26.467 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.467 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.467 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.467 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
26.467 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.467 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.467 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.467 * [backup-simplify]: Simplify 0.5 into 0.5
26.467 * [taylor]: Taking taylor expansion of phi2 in phi2
26.467 * [backup-simplify]: Simplify 0 into 0
26.467 * [backup-simplify]: Simplify 1 into 1
26.468 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.468 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.468 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.468 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.468 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.468 * [backup-simplify]: Simplify 0.5 into 0.5
26.468 * [taylor]: Taking taylor expansion of phi2 in phi2
26.468 * [backup-simplify]: Simplify 0 into 0
26.468 * [backup-simplify]: Simplify 1 into 1
26.468 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.468 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.468 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.469 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.469 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.469 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.469 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.470 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
26.470 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.471 * [backup-simplify]: Simplify (- 0) into 0
26.471 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.471 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.471 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.471 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.472 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.472 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.472 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.473 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
26.473 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.475 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.475 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in phi1
26.475 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in phi1
26.475 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
26.475 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
26.475 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
26.475 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.475 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.475 * [backup-simplify]: Simplify 0.5 into 0.5
26.475 * [taylor]: Taking taylor expansion of phi1 in phi1
26.475 * [backup-simplify]: Simplify 0 into 0
26.475 * [backup-simplify]: Simplify 1 into 1
26.476 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.476 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
26.476 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
26.476 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.476 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.476 * [backup-simplify]: Simplify 0.5 into 0.5
26.476 * [taylor]: Taking taylor expansion of phi2 in phi1
26.476 * [backup-simplify]: Simplify phi2 into phi2
26.476 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.476 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.476 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.476 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.477 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.477 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.477 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
26.477 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
26.477 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
26.477 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.477 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.477 * [backup-simplify]: Simplify 0.5 into 0.5
26.477 * [taylor]: Taking taylor expansion of phi1 in phi1
26.477 * [backup-simplify]: Simplify 0 into 0
26.477 * [backup-simplify]: Simplify 1 into 1
26.477 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.478 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.478 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
26.478 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
26.478 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.478 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.478 * [backup-simplify]: Simplify 0.5 into 0.5
26.478 * [taylor]: Taking taylor expansion of phi2 in phi1
26.478 * [backup-simplify]: Simplify phi2 into phi2
26.478 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.478 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.478 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.478 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.479 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.479 * [backup-simplify]: Simplify (- 0) into 0
26.479 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.479 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in phi1
26.479 * [taylor]: Taking taylor expansion of 2 in phi1
26.479 * [backup-simplify]: Simplify 2 into 2
26.479 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
26.479 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
26.479 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.479 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.479 * [backup-simplify]: Simplify 0.5 into 0.5
26.479 * [taylor]: Taking taylor expansion of phi1 in phi1
26.479 * [backup-simplify]: Simplify 0 into 0
26.479 * [backup-simplify]: Simplify 1 into 1
26.480 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.480 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.480 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
26.480 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
26.480 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.480 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.480 * [backup-simplify]: Simplify 0.5 into 0.5
26.480 * [taylor]: Taking taylor expansion of phi1 in phi1
26.480 * [backup-simplify]: Simplify 0 into 0
26.480 * [backup-simplify]: Simplify 1 into 1
26.481 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.481 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.481 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
26.481 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
26.481 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.481 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.481 * [backup-simplify]: Simplify 0.5 into 0.5
26.481 * [taylor]: Taking taylor expansion of phi2 in phi1
26.481 * [backup-simplify]: Simplify phi2 into phi2
26.481 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.481 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.481 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.481 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
26.481 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.481 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.481 * [backup-simplify]: Simplify 0.5 into 0.5
26.481 * [taylor]: Taking taylor expansion of phi2 in phi1
26.481 * [backup-simplify]: Simplify phi2 into phi2
26.481 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.482 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.482 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.482 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.482 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.483 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.483 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.484 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
26.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.484 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.484 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.484 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.485 * [backup-simplify]: Simplify (- 0) into 0
26.485 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.485 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.486 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.486 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.486 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
26.487 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.488 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.488 * [taylor]: Taking taylor expansion of (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) in lambda1
26.488 * [taylor]: Taking taylor expansion of (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) in lambda1
26.488 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
26.488 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
26.488 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
26.488 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.488 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.489 * [backup-simplify]: Simplify 0.5 into 0.5
26.489 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.489 * [backup-simplify]: Simplify phi1 into phi1
26.489 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.489 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.489 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.489 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.489 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.489 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.489 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
26.489 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
26.489 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.489 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.489 * [backup-simplify]: Simplify 0.5 into 0.5
26.489 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.489 * [backup-simplify]: Simplify phi2 into phi2
26.489 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.490 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.490 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.490 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.490 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.490 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.490 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
26.490 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
26.490 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
26.490 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.490 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.490 * [backup-simplify]: Simplify 0.5 into 0.5
26.490 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.490 * [backup-simplify]: Simplify phi1 into phi1
26.490 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.490 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.490 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.491 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.491 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.491 * [backup-simplify]: Simplify (- 0) into 0
26.491 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.491 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
26.492 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
26.492 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.492 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.492 * [backup-simplify]: Simplify 0.5 into 0.5
26.492 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.492 * [backup-simplify]: Simplify phi2 into phi2
26.492 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.492 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.492 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.492 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.492 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.493 * [backup-simplify]: Simplify (- 0) into 0
26.493 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.493 * [taylor]: Taking taylor expansion of (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) in lambda1
26.493 * [taylor]: Taking taylor expansion of 2 in lambda1
26.493 * [backup-simplify]: Simplify 2 into 2
26.493 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
26.493 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
26.493 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.493 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.493 * [backup-simplify]: Simplify 0.5 into 0.5
26.493 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.493 * [backup-simplify]: Simplify phi1 into phi1
26.493 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.493 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.493 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.493 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
26.494 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
26.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.494 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.494 * [backup-simplify]: Simplify 0.5 into 0.5
26.494 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.494 * [backup-simplify]: Simplify phi1 into phi1
26.494 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.494 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
26.494 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
26.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.494 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.494 * [backup-simplify]: Simplify 0.5 into 0.5
26.494 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.494 * [backup-simplify]: Simplify phi2 into phi2
26.494 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.494 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.494 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.494 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
26.494 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.494 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.494 * [backup-simplify]: Simplify 0.5 into 0.5
26.494 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.494 * [backup-simplify]: Simplify phi2 into phi2
26.495 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.495 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.495 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.496 * [backup-simplify]: Simplify (+ 0) into 0
26.496 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.496 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.497 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.498 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.498 * [backup-simplify]: Simplify (+ 0 0) into 0
26.498 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.500 * [backup-simplify]: Simplify (+ 0) into 0
26.501 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.502 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.502 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.503 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.503 * [backup-simplify]: Simplify (+ 0 0) into 0
26.504 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.504 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
26.505 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.513 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
26.514 * [backup-simplify]: Simplify (+ 0) into 0
26.514 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.515 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.515 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.516 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.516 * [backup-simplify]: Simplify (- 0) into 0
26.517 * [backup-simplify]: Simplify (+ 0 0) into 0
26.517 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.517 * [backup-simplify]: Simplify (+ 0) into 0
26.518 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.518 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.519 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.519 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.519 * [backup-simplify]: Simplify (- 0) into 0
26.520 * [backup-simplify]: Simplify (+ 0 0) into 0
26.520 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.520 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
26.521 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.522 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)))) into 0
26.523 * [backup-simplify]: Simplify (+ 0 0) into 0
26.523 * [backup-simplify]: Simplify (+ 0 0) into 0
26.523 * [backup-simplify]: Simplify (+ 0 0) into 0
26.524 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
26.524 * [backup-simplify]: Simplify (+ 0) into 0
26.525 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.525 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.526 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.526 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.527 * [backup-simplify]: Simplify (- 0) into 0
26.527 * [backup-simplify]: Simplify (+ 0 0) into 0
26.527 * [backup-simplify]: Simplify (+ 0) into 0
26.528 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.528 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.529 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.529 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.530 * [backup-simplify]: Simplify (+ 0 0) into 0
26.530 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.530 * [backup-simplify]: Simplify (+ 0) into 0
26.531 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.531 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.532 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.533 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.533 * [backup-simplify]: Simplify (+ 0 0) into 0
26.533 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
26.534 * [backup-simplify]: Simplify (+ 0) into 0
26.534 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.534 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.535 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.536 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.536 * [backup-simplify]: Simplify (- 0) into 0
26.536 * [backup-simplify]: Simplify (+ 0 0) into 0
26.537 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
26.537 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.538 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)))) into 0
26.538 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
26.539 * [backup-simplify]: Simplify (+ 0 0) into 0
26.539 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
26.539 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
26.540 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
26.540 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2
26.540 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2
26.540 * [taylor]: Taking taylor expansion of 2 in phi2
26.540 * [backup-simplify]: Simplify 2 into 2
26.540 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2
26.540 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
26.540 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
26.540 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
26.540 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.540 * [backup-simplify]: Simplify 0.5 into 0.5
26.540 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
26.540 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
26.540 * [taylor]: Taking taylor expansion of phi1 in phi2
26.540 * [backup-simplify]: Simplify phi1 into phi1
26.540 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.540 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
26.540 * [taylor]: Taking taylor expansion of phi2 in phi2
26.540 * [backup-simplify]: Simplify 0 into 0
26.540 * [backup-simplify]: Simplify 1 into 1
26.540 * [backup-simplify]: Simplify (/ 1 1) into 1
26.540 * [backup-simplify]: Simplify (+ 0 1) into 1
26.541 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
26.541 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.541 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.541 * [backup-simplify]: Simplify lambda1 into lambda1
26.541 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.541 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
26.542 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
26.542 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
26.542 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi1
26.542 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi1
26.542 * [taylor]: Taking taylor expansion of 2 in phi1
26.542 * [backup-simplify]: Simplify 2 into 2
26.542 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1
26.542 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
26.542 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
26.542 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
26.542 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.542 * [backup-simplify]: Simplify 0.5 into 0.5
26.542 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
26.542 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
26.542 * [taylor]: Taking taylor expansion of phi1 in phi1
26.542 * [backup-simplify]: Simplify 0 into 0
26.542 * [backup-simplify]: Simplify 1 into 1
26.542 * [backup-simplify]: Simplify (/ 1 1) into 1
26.542 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
26.542 * [taylor]: Taking taylor expansion of phi2 in phi1
26.542 * [backup-simplify]: Simplify phi2 into phi2
26.543 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.543 * [backup-simplify]: Simplify (+ 1 0) into 1
26.543 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
26.543 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.543 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.543 * [backup-simplify]: Simplify lambda1 into lambda1
26.543 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.544 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
26.544 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
26.544 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
26.544 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1
26.544 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1
26.544 * [taylor]: Taking taylor expansion of 2 in lambda1
26.544 * [backup-simplify]: Simplify 2 into 2
26.544 * [taylor]: Taking taylor expansion of (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1
26.544 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
26.544 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
26.544 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
26.544 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.544 * [backup-simplify]: Simplify 0.5 into 0.5
26.544 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
26.544 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
26.544 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.544 * [backup-simplify]: Simplify phi1 into phi1
26.544 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.545 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
26.545 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.545 * [backup-simplify]: Simplify phi2 into phi2
26.545 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.545 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
26.545 * [backup-simplify]: Simplify (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))
26.545 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.545 * [backup-simplify]: Simplify (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.545 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.545 * [backup-simplify]: Simplify (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
26.545 * [backup-simplify]: Simplify (- 0) into 0
26.546 * [backup-simplify]: Simplify (+ (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.546 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.546 * [backup-simplify]: Simplify 0 into 0
26.546 * [backup-simplify]: Simplify 1 into 1
26.546 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.546 * [backup-simplify]: Simplify (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.546 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.547 * [backup-simplify]: Simplify (+ 0) into 0
26.547 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.547 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.547 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.548 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.548 * [backup-simplify]: Simplify (+ 0 0) into 0
26.548 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.548 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
26.549 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.549 * [backup-simplify]: Simplify (+ 0) into 0
26.549 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.549 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.550 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.550 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.550 * [backup-simplify]: Simplify (- 0) into 0
26.551 * [backup-simplify]: Simplify (+ 0 0) into 0
26.551 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.551 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
26.551 * [backup-simplify]: Simplify (+ 0 0) into 0
26.551 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.552 * [backup-simplify]: Simplify (+ 0) into 0
26.552 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.552 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.553 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.553 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.554 * [backup-simplify]: Simplify (+ 0 0) into 0
26.554 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
26.554 * [backup-simplify]: Simplify (+ 0) into 0
26.554 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 1)) into 0
26.555 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)))) into 0
26.555 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.556 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 0)) into 0
26.556 * [backup-simplify]: Simplify (- 0) into 0
26.556 * [backup-simplify]: Simplify (+ 0 0) into 0
26.556 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
26.557 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
26.557 * [backup-simplify]: Simplify (- 0) into 0
26.557 * [backup-simplify]: Simplify (+ 0 0) into 0
26.557 * [taylor]: Taking taylor expansion of 0 in phi1
26.557 * [backup-simplify]: Simplify 0 into 0
26.557 * [taylor]: Taking taylor expansion of 0 in lambda1
26.557 * [backup-simplify]: Simplify 0 into 0
26.558 * [backup-simplify]: Simplify (+ 0) into 0
26.558 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.558 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.558 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.559 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.559 * [backup-simplify]: Simplify (+ 0 0) into 0
26.559 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (sin (/ 0.5 phi2)))) into 0
26.559 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (sin (/ 0.5 phi1)))) into 0
26.560 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (* 0 (pow (sin (/ 0.5 phi2)) 2))) into 0
26.560 * [backup-simplify]: Simplify (+ 0) into 0
26.560 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.560 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.561 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.561 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.561 * [backup-simplify]: Simplify (- 0) into 0
26.561 * [backup-simplify]: Simplify (+ 0 0) into 0
26.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.562 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (cos (/ 0.5 phi1)))) into 0
26.562 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (* 0 (pow (cos (/ 0.5 phi2)) 2))) into 0
26.562 * [backup-simplify]: Simplify (+ 0 0) into 0
26.562 * [backup-simplify]: Simplify (+ 0) into 0
26.563 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.563 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.563 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.564 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.564 * [backup-simplify]: Simplify (- 0) into 0
26.564 * [backup-simplify]: Simplify (+ 0 0) into 0
26.564 * [backup-simplify]: Simplify (+ 0) into 0
26.565 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 1)) into 0
26.565 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)))) into 0
26.565 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.566 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (* 0 0)) into 0
26.566 * [backup-simplify]: Simplify (+ 0 0) into 0
26.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (* 0 (cos (/ 0.5 phi2)))) into 0
26.566 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into 0
26.566 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
26.567 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
26.567 * [backup-simplify]: Simplify (- 0) into 0
26.567 * [backup-simplify]: Simplify (+ 0 0) into 0
26.567 * [taylor]: Taking taylor expansion of 0 in lambda1
26.567 * [backup-simplify]: Simplify 0 into 0
26.568 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.568 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.568 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.569 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.569 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.570 * [backup-simplify]: Simplify (+ 0 0) into 0
26.570 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
26.570 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.571 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.571 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.571 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.572 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.572 * [backup-simplify]: Simplify (+ 0 0) into 0
26.572 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.573 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
26.573 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
26.575 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
26.575 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.575 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.576 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.576 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.576 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.577 * [backup-simplify]: Simplify (- 0) into 0
26.577 * [backup-simplify]: Simplify (+ 0 0) into 0
26.577 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.578 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.578 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.578 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.579 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.579 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.579 * [backup-simplify]: Simplify (- 0) into 0
26.580 * [backup-simplify]: Simplify (+ 0 0) into 0
26.580 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.581 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
26.581 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
26.582 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
26.583 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) 0) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.583 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))
26.584 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))
26.584 * [backup-simplify]: Simplify (+ 0) into 0
26.585 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
26.585 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
26.585 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
26.585 * [backup-simplify]: Simplify (+ 0 0) into 0
26.586 * [backup-simplify]: Simplify (+ (* 0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
26.586 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.586 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
26.587 * [backup-simplify]: Simplify (- 0) into 0
26.587 * [backup-simplify]: Simplify (+ 0 0) into 0
26.587 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
26.588 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
26.588 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
26.588 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
26.589 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.590 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.590 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.591 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.592 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.592 * [backup-simplify]: Simplify (- 0) into 0
26.592 * [backup-simplify]: Simplify (+ 0 0) into 0
26.593 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.594 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.595 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.595 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.596 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.596 * [backup-simplify]: Simplify (+ 0 0) into 0
26.597 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.598 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.599 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.599 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.600 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.600 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.601 * [backup-simplify]: Simplify (+ 0 0) into 0
26.601 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
26.602 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.603 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.603 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.604 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.605 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.605 * [backup-simplify]: Simplify (- 0) into 0
26.606 * [backup-simplify]: Simplify (+ 0 0) into 0
26.607 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
26.607 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
26.609 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
26.610 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
26.611 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
26.612 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
26.613 * [backup-simplify]: Simplify (+ 0 (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
26.613 * [backup-simplify]: Simplify (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))
26.616 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))
26.616 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi2
26.616 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) in phi2
26.616 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2
26.616 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi2
26.616 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi2
26.616 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.616 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.616 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.616 * [backup-simplify]: Simplify 0.5 into 0.5
26.616 * [taylor]: Taking taylor expansion of phi1 in phi2
26.616 * [backup-simplify]: Simplify phi1 into phi1
26.616 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.616 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.616 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.617 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.617 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.617 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.617 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi2
26.617 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.617 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.617 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.617 * [backup-simplify]: Simplify 0.5 into 0.5
26.617 * [taylor]: Taking taylor expansion of phi2 in phi2
26.617 * [backup-simplify]: Simplify 0 into 0
26.617 * [backup-simplify]: Simplify 1 into 1
26.618 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.618 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.618 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.618 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.618 * [backup-simplify]: Simplify lambda1 into lambda1
26.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.618 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.619 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.619 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.619 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.619 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi2
26.619 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi2
26.619 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi2
26.619 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.619 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.619 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.620 * [backup-simplify]: Simplify 0.5 into 0.5
26.620 * [taylor]: Taking taylor expansion of phi1 in phi2
26.620 * [backup-simplify]: Simplify phi1 into phi1
26.620 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.620 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.620 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.620 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.620 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.621 * [backup-simplify]: Simplify (- 0) into 0
26.621 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.621 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi2
26.621 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.621 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.621 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.621 * [backup-simplify]: Simplify 0.5 into 0.5
26.621 * [taylor]: Taking taylor expansion of phi2 in phi2
26.621 * [backup-simplify]: Simplify 0 into 0
26.621 * [backup-simplify]: Simplify 1 into 1
26.621 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.622 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.622 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.622 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.622 * [backup-simplify]: Simplify lambda1 into lambda1
26.622 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.622 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.622 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.623 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.623 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.623 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi2
26.623 * [taylor]: Taking taylor expansion of 2 in phi2
26.623 * [backup-simplify]: Simplify 2 into 2
26.623 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi2
26.623 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi2
26.623 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi2
26.623 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.623 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.623 * [backup-simplify]: Simplify 0.5 into 0.5
26.623 * [taylor]: Taking taylor expansion of phi1 in phi2
26.623 * [backup-simplify]: Simplify phi1 into phi1
26.623 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.624 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi2
26.624 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi2
26.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi2
26.624 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.624 * [backup-simplify]: Simplify 0.5 into 0.5
26.624 * [taylor]: Taking taylor expansion of phi1 in phi2
26.624 * [backup-simplify]: Simplify phi1 into phi1
26.624 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.624 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.624 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.624 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi2
26.624 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi2
26.624 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.624 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.624 * [backup-simplify]: Simplify 0.5 into 0.5
26.624 * [taylor]: Taking taylor expansion of phi2 in phi2
26.624 * [backup-simplify]: Simplify 0 into 0
26.624 * [backup-simplify]: Simplify 1 into 1
26.625 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.625 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.625 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi2
26.625 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi2
26.625 * [taylor]: Taking taylor expansion of 0.5 in phi2
26.625 * [backup-simplify]: Simplify 0.5 into 0.5
26.625 * [taylor]: Taking taylor expansion of phi2 in phi2
26.625 * [backup-simplify]: Simplify 0 into 0
26.625 * [backup-simplify]: Simplify 1 into 1
26.626 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.626 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.626 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.626 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.626 * [backup-simplify]: Simplify lambda1 into lambda1
26.626 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.626 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.627 * [backup-simplify]: Simplify (- 0) into 0
26.627 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.627 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.627 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.627 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.627 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.628 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.628 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.628 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.629 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
26.630 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))
26.631 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
26.631 * [backup-simplify]: Simplify (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))
26.633 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))
26.633 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in phi1
26.633 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) in phi1
26.633 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1
26.633 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in phi1
26.633 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in phi1
26.633 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
26.633 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.633 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.633 * [backup-simplify]: Simplify 0.5 into 0.5
26.633 * [taylor]: Taking taylor expansion of phi1 in phi1
26.633 * [backup-simplify]: Simplify 0 into 0
26.633 * [backup-simplify]: Simplify 1 into 1
26.634 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.634 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.634 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in phi1
26.634 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
26.634 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.634 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.634 * [backup-simplify]: Simplify 0.5 into 0.5
26.634 * [taylor]: Taking taylor expansion of phi2 in phi1
26.634 * [backup-simplify]: Simplify phi2 into phi2
26.634 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.634 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.634 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.635 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.635 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.635 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.635 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.635 * [backup-simplify]: Simplify lambda1 into lambda1
26.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.635 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.635 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.635 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.636 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.636 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in phi1
26.636 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in phi1
26.636 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in phi1
26.636 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
26.636 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.636 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.636 * [backup-simplify]: Simplify 0.5 into 0.5
26.636 * [taylor]: Taking taylor expansion of phi1 in phi1
26.636 * [backup-simplify]: Simplify 0 into 0
26.636 * [backup-simplify]: Simplify 1 into 1
26.636 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.636 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.636 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in phi1
26.636 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
26.636 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.636 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.636 * [backup-simplify]: Simplify 0.5 into 0.5
26.636 * [taylor]: Taking taylor expansion of phi2 in phi1
26.636 * [backup-simplify]: Simplify phi2 into phi2
26.637 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.637 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.637 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.637 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.637 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.637 * [backup-simplify]: Simplify (- 0) into 0
26.637 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.637 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.637 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.637 * [backup-simplify]: Simplify lambda1 into lambda1
26.637 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.637 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.638 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.638 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.638 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))
26.638 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in phi1
26.638 * [taylor]: Taking taylor expansion of 2 in phi1
26.638 * [backup-simplify]: Simplify 2 into 2
26.638 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in phi1
26.638 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in phi1
26.638 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in phi1
26.638 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.638 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.638 * [backup-simplify]: Simplify 0.5 into 0.5
26.638 * [taylor]: Taking taylor expansion of phi1 in phi1
26.638 * [backup-simplify]: Simplify 0 into 0
26.638 * [backup-simplify]: Simplify 1 into 1
26.639 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.639 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.639 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in phi1
26.639 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in phi1
26.639 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in phi1
26.639 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.639 * [backup-simplify]: Simplify 0.5 into 0.5
26.639 * [taylor]: Taking taylor expansion of phi1 in phi1
26.639 * [backup-simplify]: Simplify 0 into 0
26.639 * [backup-simplify]: Simplify 1 into 1
26.639 * [backup-simplify]: Simplify (/ 0.5 1) into 0.5
26.639 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.639 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in phi1
26.639 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in phi1
26.639 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.639 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.639 * [backup-simplify]: Simplify 0.5 into 0.5
26.639 * [taylor]: Taking taylor expansion of phi2 in phi1
26.639 * [backup-simplify]: Simplify phi2 into phi2
26.639 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.639 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.639 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.639 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in phi1
26.639 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in phi1
26.639 * [taylor]: Taking taylor expansion of 0.5 in phi1
26.639 * [backup-simplify]: Simplify 0.5 into 0.5
26.639 * [taylor]: Taking taylor expansion of phi2 in phi1
26.640 * [backup-simplify]: Simplify phi2 into phi2
26.640 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.640 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.640 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.640 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.640 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.640 * [backup-simplify]: Simplify lambda1 into lambda1
26.640 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.640 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.640 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.640 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.640 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.640 * [backup-simplify]: Simplify (- 0) into 0
26.640 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.641 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.641 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.641 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.641 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.641 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))
26.642 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)))
26.642 * [backup-simplify]: Simplify (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) into (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))
26.643 * [backup-simplify]: Simplify (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) into (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))
26.644 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (- (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))) into (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))))
26.644 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)))) in lambda1
26.644 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2))) in lambda1
26.644 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1
26.644 * [taylor]: Taking taylor expansion of (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) in lambda1
26.644 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi1)) 2) in lambda1
26.644 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
26.644 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.644 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.644 * [backup-simplify]: Simplify 0.5 into 0.5
26.644 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.644 * [backup-simplify]: Simplify phi1 into phi1
26.644 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.644 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.644 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.644 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.644 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.645 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.645 * [taylor]: Taking taylor expansion of (pow (sin (/ 0.5 phi2)) 2) in lambda1
26.645 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
26.645 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.645 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.645 * [backup-simplify]: Simplify 0.5 into 0.5
26.645 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.645 * [backup-simplify]: Simplify phi2 into phi2
26.645 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.645 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.645 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.645 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.645 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.645 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.645 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.645 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.645 * [backup-simplify]: Simplify 0 into 0
26.645 * [backup-simplify]: Simplify 1 into 1
26.645 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.645 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.645 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.651 * [backup-simplify]: Simplify (* 1 1) into 1
26.651 * [backup-simplify]: Simplify (/ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) 1) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.652 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) (pow lambda1 2)) in lambda1
26.652 * [taylor]: Taking taylor expansion of (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) in lambda1
26.652 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi1)) 2) in lambda1
26.652 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
26.652 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.652 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.652 * [backup-simplify]: Simplify 0.5 into 0.5
26.652 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.652 * [backup-simplify]: Simplify phi1 into phi1
26.652 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.652 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.652 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.652 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.652 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.653 * [backup-simplify]: Simplify (- 0) into 0
26.653 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.653 * [taylor]: Taking taylor expansion of (pow (cos (/ 0.5 phi2)) 2) in lambda1
26.653 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
26.653 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.653 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.653 * [backup-simplify]: Simplify 0.5 into 0.5
26.653 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.653 * [backup-simplify]: Simplify phi2 into phi2
26.653 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.653 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.653 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.653 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.653 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.653 * [backup-simplify]: Simplify (- 0) into 0
26.653 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.653 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.653 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.653 * [backup-simplify]: Simplify 0 into 0
26.653 * [backup-simplify]: Simplify 1 into 1
26.654 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.654 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.654 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.654 * [backup-simplify]: Simplify (* 1 1) into 1
26.654 * [backup-simplify]: Simplify (/ (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) 1) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.654 * [taylor]: Taking taylor expansion of (* 2 (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2))) in lambda1
26.654 * [taylor]: Taking taylor expansion of 2 in lambda1
26.655 * [backup-simplify]: Simplify 2 into 2
26.655 * [taylor]: Taking taylor expansion of (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) (pow lambda1 2)) in lambda1
26.655 * [taylor]: Taking taylor expansion of (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) in lambda1
26.655 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi1)) in lambda1
26.655 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.655 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.655 * [backup-simplify]: Simplify 0.5 into 0.5
26.655 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.655 * [backup-simplify]: Simplify phi1 into phi1
26.655 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.655 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.655 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.655 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) in lambda1
26.655 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi1)) in lambda1
26.655 * [taylor]: Taking taylor expansion of (/ 0.5 phi1) in lambda1
26.655 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.655 * [backup-simplify]: Simplify 0.5 into 0.5
26.655 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.655 * [backup-simplify]: Simplify phi1 into phi1
26.655 * [backup-simplify]: Simplify (/ 0.5 phi1) into (/ 0.5 phi1)
26.655 * [backup-simplify]: Simplify (sin (/ 0.5 phi1)) into (sin (/ 0.5 phi1))
26.655 * [backup-simplify]: Simplify (cos (/ 0.5 phi1)) into (cos (/ 0.5 phi1))
26.655 * [taylor]: Taking taylor expansion of (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) in lambda1
26.655 * [taylor]: Taking taylor expansion of (sin (/ 0.5 phi2)) in lambda1
26.655 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.655 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.655 * [backup-simplify]: Simplify 0.5 into 0.5
26.655 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.655 * [backup-simplify]: Simplify phi2 into phi2
26.655 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.655 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.655 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.655 * [taylor]: Taking taylor expansion of (cos (/ 0.5 phi2)) in lambda1
26.655 * [taylor]: Taking taylor expansion of (/ 0.5 phi2) in lambda1
26.655 * [taylor]: Taking taylor expansion of 0.5 in lambda1
26.655 * [backup-simplify]: Simplify 0.5 into 0.5
26.655 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.655 * [backup-simplify]: Simplify phi2 into phi2
26.656 * [backup-simplify]: Simplify (/ 0.5 phi2) into (/ 0.5 phi2)
26.656 * [backup-simplify]: Simplify (cos (/ 0.5 phi2)) into (cos (/ 0.5 phi2))
26.656 * [backup-simplify]: Simplify (sin (/ 0.5 phi2)) into (sin (/ 0.5 phi2))
26.656 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.656 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.656 * [backup-simplify]: Simplify 0 into 0
26.656 * [backup-simplify]: Simplify 1 into 1
26.656 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.656 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.656 * [backup-simplify]: Simplify (- 0) into 0
26.656 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.657 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.657 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.657 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.657 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.657 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.657 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.657 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.657 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.657 * [backup-simplify]: Simplify (- 0) into 0
26.657 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.657 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.658 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.658 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.658 * [backup-simplify]: Simplify (* 1 1) into 1
26.658 * [backup-simplify]: Simplify (/ (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) 1) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.659 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
26.659 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
26.659 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.660 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.661 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.661 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
26.662 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
26.662 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
26.663 * [backup-simplify]: Simplify (- 0) into 0
26.663 * [taylor]: Taking taylor expansion of 0 in phi1
26.663 * [backup-simplify]: Simplify 0 into 0
26.663 * [taylor]: Taking taylor expansion of 0 in lambda1
26.663 * [backup-simplify]: Simplify 0 into 0
26.663 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
26.664 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.664 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.664 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.665 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.665 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.665 * [backup-simplify]: Simplify (+ 0 0) into 0
26.666 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.666 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
26.667 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.667 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.668 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.668 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.668 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.669 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.669 * [backup-simplify]: Simplify (- 0) into 0
26.669 * [backup-simplify]: Simplify (+ 0 0) into 0
26.669 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.670 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
26.670 * [backup-simplify]: Simplify (+ 0 0) into 0
26.670 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.671 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.671 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.672 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.672 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.672 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.673 * [backup-simplify]: Simplify (+ 0 0) into 0
26.673 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
26.674 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.675 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
26.675 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ 0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
26.676 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.677 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
26.677 * [backup-simplify]: Simplify (- 0) into 0
26.678 * [backup-simplify]: Simplify (+ 0 0) into 0
26.678 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
26.680 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
26.680 * [backup-simplify]: Simplify (- 0) into 0
26.680 * [backup-simplify]: Simplify (+ 0 0) into 0
26.680 * [taylor]: Taking taylor expansion of 0 in phi1
26.680 * [backup-simplify]: Simplify 0 into 0
26.680 * [taylor]: Taking taylor expansion of 0 in lambda1
26.680 * [backup-simplify]: Simplify 0 into 0
26.681 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
26.681 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
26.682 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
26.683 * [backup-simplify]: Simplify (- 0) into 0
26.683 * [taylor]: Taking taylor expansion of 0 in lambda1
26.683 * [backup-simplify]: Simplify 0 into 0
26.683 * [taylor]: Taking taylor expansion of 0 in lambda1
26.683 * [backup-simplify]: Simplify 0 into 0
26.684 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.685 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.685 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.686 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.686 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.687 * [backup-simplify]: Simplify (+ 0 0) into 0
26.687 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi2))))) into 0
26.688 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ 0.5 phi1))))) into 0
26.689 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ 0.5 phi2)) 2)))) into 0
26.689 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.690 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.690 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.691 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.692 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.692 * [backup-simplify]: Simplify (- 0) into 0
26.693 * [backup-simplify]: Simplify (+ 0 0) into 0
26.693 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.694 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi1))))) into 0
26.695 * [backup-simplify]: Simplify (+ (* (pow (cos (/ 0.5 phi1)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ 0.5 phi2)) 2)))) into 0
26.695 * [backup-simplify]: Simplify (+ 0 0) into 0
26.696 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.697 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.697 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.697 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.698 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.698 * [backup-simplify]: Simplify (- 0) into 0
26.698 * [backup-simplify]: Simplify (+ 0 0) into 0
26.699 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
26.699 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
26.699 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ 0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
26.700 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
26.700 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
26.700 * [backup-simplify]: Simplify (+ 0 0) into 0
26.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ 0.5 phi2))))) into 0
26.701 * [backup-simplify]: Simplify (+ (* (sin (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into 0
26.702 * [backup-simplify]: Simplify (+ (* (cos (/ 0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into 0
26.702 * [backup-simplify]: Simplify (+ (* 2 0) (+ (* 0 0) (* 0 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into 0
26.702 * [backup-simplify]: Simplify (- 0) into 0
26.703 * [backup-simplify]: Simplify (+ 0 0) into 0
26.703 * [taylor]: Taking taylor expansion of 0 in lambda1
26.703 * [backup-simplify]: Simplify 0 into 0
26.703 * [backup-simplify]: Simplify (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
26.703 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
26.703 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
26.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (sin (/ 0.5 phi1))) into (pow (sin (/ 0.5 phi1)) 2)
26.704 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (sin (/ 0.5 phi2))) into (pow (sin (/ 0.5 phi2)) 2)
26.704 * [backup-simplify]: Simplify (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) into (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2))
26.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (cos (/ 0.5 phi1))) into (pow (cos (/ 0.5 phi1)) 2)
26.704 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (pow (cos (/ 0.5 phi2)) 2)
26.704 * [backup-simplify]: Simplify (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)) into (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))
26.705 * [backup-simplify]: Simplify (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) into (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2)))
26.705 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 1) into (cos (/ 0.5 phi1))
26.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 0) into 0
26.705 * [backup-simplify]: Simplify (- 0) into 0
26.705 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi1)) 0) into (cos (/ 0.5 phi1))
26.705 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) 1) into (sin (/ 0.5 phi1))
26.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) 0) into 0
26.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi1)) 0) into (sin (/ 0.5 phi1))
26.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 1) into (sin (/ 0.5 phi2))
26.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 0) into 0
26.706 * [backup-simplify]: Simplify (+ (sin (/ 0.5 phi2)) 0) into (sin (/ 0.5 phi2))
26.706 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi2)) 1) into (cos (/ 0.5 phi2))
26.706 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) 0) into 0
26.706 * [backup-simplify]: Simplify (- 0) into 0
26.707 * [backup-simplify]: Simplify (+ (cos (/ 0.5 phi2)) 0) into (cos (/ 0.5 phi2))
26.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))) into (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))
26.707 * [backup-simplify]: Simplify (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))) into (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))
26.707 * [backup-simplify]: Simplify (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))) into (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))
26.707 * [backup-simplify]: Simplify (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))) into (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))
26.707 * [backup-simplify]: Simplify (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.708 * [backup-simplify]: Simplify (+ (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (- (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.709 * [backup-simplify]: Simplify (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2))))))) into (- (+ (* (pow (sin (/ 0.5 phi1)) 2) (pow (sin (/ 0.5 phi2)) 2)) (* (pow (cos (/ 0.5 phi1)) 2) (pow (cos (/ 0.5 phi2)) 2))) (* 2 (* (cos (/ 0.5 phi1)) (* (sin (/ 0.5 phi1)) (* (sin (/ 0.5 phi2)) (cos (/ 0.5 phi2)))))))
26.713 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 lambda2))))) 2)) (+ (* (- (* 2 (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2))) (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 (/ 1 (/ 1 lambda2)))))) (* (- (+ (* (pow (sin (/ 0.5 (/ 1 phi1))) 2) (pow (sin (/ 0.5 (/ 1 phi2))) 2)) (* (pow (cos (/ 0.5 (/ 1 phi1))) 2) (pow (cos (/ 0.5 (/ 1 phi2))) 2))) (* 2 (* (cos (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi1))) (* (sin (/ 0.5 (/ 1 phi2))) (cos (/ 0.5 (/ 1 phi2)))))))) (pow (* (/ 1 (/ 1 lambda1)) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi2)) 2) (pow lambda1 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (+ (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
26.715 * [backup-simplify]: Simplify (- (+ (* (pow (/ 1 (- lambda2)) 2) (pow (- (* (cos (* 0.5 (/ 1 (- phi2)))) (cos (* 0.5 (/ 1 (- phi1))))) (* (sin (* 0.5 (/ 1 (- phi2)))) (sin (* 0.5 (/ 1 (- phi1)))))) 2)) (* (pow (- (* (cos (* 0.5 (/ 1 (- phi2)))) (cos (* 0.5 (/ 1 (- phi1))))) (* (sin (* (/ 1 (- phi2)) 0.5)) (sin (* (/ 1 (- phi1)) 0.5)))) 2) (pow (/ 1 (- lambda1)) 2))) (* 2 (* (/ 1 (- lambda2)) (* (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) (/ 1 (- lambda1)))))) into (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))))
26.715 * [approximate]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in (lambda2 phi2 phi1 lambda1) around 0
26.715 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in lambda1
26.715 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda1
26.715 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1
26.715 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
26.716 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
26.716 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.716 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.716 * [backup-simplify]: Simplify -0.5 into -0.5
26.716 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.716 * [backup-simplify]: Simplify phi2 into phi2
26.716 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.716 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.716 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.716 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.716 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.716 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.716 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
26.716 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.716 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.716 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.716 * [backup-simplify]: Simplify -0.5 into -0.5
26.716 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.716 * [backup-simplify]: Simplify phi1 into phi1
26.716 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.716 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.716 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.716 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.716 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.716 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.716 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.717 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.717 * [backup-simplify]: Simplify 0 into 0
26.717 * [backup-simplify]: Simplify 1 into 1
26.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.717 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.717 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.717 * [backup-simplify]: Simplify (* 1 1) into 1
26.718 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.718 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda1
26.718 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1
26.718 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
26.718 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
26.718 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.718 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.718 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.718 * [backup-simplify]: Simplify -0.5 into -0.5
26.718 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.718 * [backup-simplify]: Simplify phi2 into phi2
26.718 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.718 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.718 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.718 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.718 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.718 * [backup-simplify]: Simplify (- 0) into 0
26.718 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.718 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
26.718 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.719 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.719 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.719 * [backup-simplify]: Simplify -0.5 into -0.5
26.719 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.719 * [backup-simplify]: Simplify phi1 into phi1
26.719 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.719 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.719 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.719 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.719 * [backup-simplify]: Simplify (- 0) into 0
26.719 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.719 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
26.719 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.719 * [backup-simplify]: Simplify lambda2 into lambda2
26.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.719 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.720 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.720 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.720 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
26.720 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda1
26.720 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1
26.720 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
26.720 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
26.720 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.720 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.720 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.720 * [backup-simplify]: Simplify -0.5 into -0.5
26.720 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.720 * [backup-simplify]: Simplify phi2 into phi2
26.720 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.720 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.720 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.720 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.721 * [backup-simplify]: Simplify (- 0) into 0
26.721 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.721 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
26.721 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.721 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.721 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.721 * [backup-simplify]: Simplify -0.5 into -0.5
26.721 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.721 * [backup-simplify]: Simplify phi1 into phi1
26.721 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.721 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.721 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.721 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.721 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.722 * [backup-simplify]: Simplify (- 0) into 0
26.722 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.722 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.722 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.722 * [backup-simplify]: Simplify 0 into 0
26.722 * [backup-simplify]: Simplify 1 into 1
26.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.722 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.722 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.722 * [backup-simplify]: Simplify (* 1 1) into 1
26.723 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.723 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda1
26.723 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
26.723 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
26.723 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.723 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.723 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.723 * [backup-simplify]: Simplify -0.5 into -0.5
26.723 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.723 * [backup-simplify]: Simplify phi2 into phi2
26.723 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.723 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.723 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.723 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.723 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.723 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
26.723 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.723 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.723 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.723 * [backup-simplify]: Simplify -0.5 into -0.5
26.723 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.723 * [backup-simplify]: Simplify phi1 into phi1
26.723 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.723 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.723 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.723 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.724 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.724 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.724 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
26.724 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.724 * [backup-simplify]: Simplify lambda2 into lambda2
26.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.724 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.724 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.724 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.724 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
26.724 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) in lambda1
26.725 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda1
26.725 * [taylor]: Taking taylor expansion of 2 in lambda1
26.725 * [backup-simplify]: Simplify 2 into 2
26.725 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda1
26.725 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
26.725 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
26.725 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
26.725 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.725 * [backup-simplify]: Simplify -0.5 into -0.5
26.725 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
26.725 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
26.725 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.725 * [backup-simplify]: Simplify phi1 into phi1
26.725 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.725 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
26.725 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.725 * [backup-simplify]: Simplify phi2 into phi2
26.725 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.725 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
26.725 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
26.726 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.726 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.726 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.726 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
26.727 * [backup-simplify]: Simplify (- 0) into 0
26.727 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.727 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda1
26.727 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.727 * [backup-simplify]: Simplify lambda2 into lambda2
26.727 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.727 * [backup-simplify]: Simplify 0 into 0
26.727 * [backup-simplify]: Simplify 1 into 1
26.728 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.728 * [backup-simplify]: Simplify (* lambda2 0) into 0
26.728 * [backup-simplify]: Simplify (+ (* lambda2 1) (* 0 0)) into lambda2
26.729 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda2)
26.729 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) in lambda1
26.729 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1
26.729 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1
26.729 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.729 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.729 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.729 * [backup-simplify]: Simplify -0.5 into -0.5
26.729 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.729 * [backup-simplify]: Simplify phi1 into phi1
26.729 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.729 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.729 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.729 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1
26.729 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.729 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.729 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.729 * [backup-simplify]: Simplify -0.5 into -0.5
26.729 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.729 * [backup-simplify]: Simplify phi2 into phi2
26.730 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.730 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.730 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.730 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
26.730 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.730 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.730 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.730 * [backup-simplify]: Simplify -0.5 into -0.5
26.730 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.730 * [backup-simplify]: Simplify phi2 into phi2
26.730 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.730 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.730 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.730 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.730 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.730 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.730 * [backup-simplify]: Simplify -0.5 into -0.5
26.730 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.730 * [backup-simplify]: Simplify phi1 into phi1
26.730 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.731 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.731 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.731 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
26.731 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.731 * [backup-simplify]: Simplify lambda2 into lambda2
26.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.731 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.731 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.731 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.731 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.732 * [backup-simplify]: Simplify (- 0) into 0
26.732 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.732 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.732 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.732 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.733 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.733 * [backup-simplify]: Simplify (- 0) into 0
26.733 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.733 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.734 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.734 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.734 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.735 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
26.735 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))) in lambda1
26.735 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1
26.735 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
26.735 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.735 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.735 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.735 * [backup-simplify]: Simplify -0.5 into -0.5
26.735 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.735 * [backup-simplify]: Simplify phi1 into phi1
26.735 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.735 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.735 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.735 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
26.735 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.735 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.735 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.735 * [backup-simplify]: Simplify -0.5 into -0.5
26.735 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.735 * [backup-simplify]: Simplify phi2 into phi2
26.736 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.736 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
26.736 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.736 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.736 * [backup-simplify]: Simplify -0.5 into -0.5
26.736 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.736 * [backup-simplify]: Simplify phi2 into phi2
26.736 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.736 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.736 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.736 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.736 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.736 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.736 * [backup-simplify]: Simplify -0.5 into -0.5
26.736 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.736 * [backup-simplify]: Simplify phi1 into phi1
26.736 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.737 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.737 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.737 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.737 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.737 * [backup-simplify]: Simplify 0 into 0
26.737 * [backup-simplify]: Simplify 1 into 1
26.737 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.737 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.738 * [backup-simplify]: Simplify (- 0) into 0
26.738 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.738 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.738 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.738 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.739 * [backup-simplify]: Simplify (- 0) into 0
26.739 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.739 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.739 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.739 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.740 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.740 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.741 * [backup-simplify]: Simplify (* 1 1) into 1
26.741 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
26.741 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) in lambda1
26.741 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda1
26.741 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
26.741 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.741 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.741 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.741 * [backup-simplify]: Simplify -0.5 into -0.5
26.741 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.741 * [backup-simplify]: Simplify phi1 into phi1
26.742 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.742 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
26.742 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.742 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.742 * [backup-simplify]: Simplify -0.5 into -0.5
26.742 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.742 * [backup-simplify]: Simplify phi2 into phi2
26.742 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.742 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.742 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.742 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
26.742 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.742 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.742 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.742 * [backup-simplify]: Simplify -0.5 into -0.5
26.742 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.742 * [backup-simplify]: Simplify phi2 into phi2
26.743 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.743 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.743 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.743 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.743 * [backup-simplify]: Simplify -0.5 into -0.5
26.743 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.743 * [backup-simplify]: Simplify phi1 into phi1
26.743 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.743 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.743 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.743 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda1
26.743 * [taylor]: Taking taylor expansion of lambda2 in lambda1
26.743 * [backup-simplify]: Simplify lambda2 into lambda2
26.743 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.744 * [backup-simplify]: Simplify (- 0) into 0
26.744 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.744 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.745 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.745 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.745 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.745 * [backup-simplify]: Simplify (- 0) into 0
26.745 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.746 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.746 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.746 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.747 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.747 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.747 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
26.748 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1
26.748 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda1
26.748 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.748 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.748 * [backup-simplify]: Simplify -0.5 into -0.5
26.748 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.748 * [backup-simplify]: Simplify phi1 into phi1
26.748 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.748 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.748 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda1
26.748 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.748 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.748 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.748 * [backup-simplify]: Simplify -0.5 into -0.5
26.748 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.748 * [backup-simplify]: Simplify phi2 into phi2
26.748 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.748 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.749 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda1
26.749 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.749 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.749 * [backup-simplify]: Simplify -0.5 into -0.5
26.749 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.749 * [backup-simplify]: Simplify phi2 into phi2
26.749 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.749 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.749 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.749 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.749 * [backup-simplify]: Simplify -0.5 into -0.5
26.749 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.749 * [backup-simplify]: Simplify phi1 into phi1
26.749 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.749 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.749 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.750 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
26.750 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.750 * [backup-simplify]: Simplify 0 into 0
26.750 * [backup-simplify]: Simplify 1 into 1
26.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.750 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.750 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.750 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.751 * [backup-simplify]: Simplify (- 0) into 0
26.751 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.751 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.751 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.751 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.752 * [backup-simplify]: Simplify (- 0) into 0
26.752 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.752 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.753 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.753 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.753 * [backup-simplify]: Simplify (* 1 1) into 1
26.754 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
26.754 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in phi1
26.754 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi1
26.754 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1
26.754 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
26.754 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
26.754 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.754 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.754 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.754 * [backup-simplify]: Simplify -0.5 into -0.5
26.754 * [taylor]: Taking taylor expansion of phi2 in phi1
26.754 * [backup-simplify]: Simplify phi2 into phi2
26.754 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.755 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.755 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.755 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.755 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.755 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.755 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
26.755 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.755 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.755 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.755 * [backup-simplify]: Simplify -0.5 into -0.5
26.755 * [taylor]: Taking taylor expansion of phi1 in phi1
26.755 * [backup-simplify]: Simplify 0 into 0
26.755 * [backup-simplify]: Simplify 1 into 1
26.756 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.756 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.756 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.756 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.756 * [backup-simplify]: Simplify lambda1 into lambda1
26.757 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.757 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.757 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.757 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.758 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
26.758 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi1
26.758 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1
26.758 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
26.758 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
26.758 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.758 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.758 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.758 * [backup-simplify]: Simplify -0.5 into -0.5
26.758 * [taylor]: Taking taylor expansion of phi2 in phi1
26.758 * [backup-simplify]: Simplify phi2 into phi2
26.758 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.759 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.759 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.759 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.759 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.759 * [backup-simplify]: Simplify (- 0) into 0
26.760 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.760 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
26.760 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.760 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.760 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.760 * [backup-simplify]: Simplify -0.5 into -0.5
26.760 * [taylor]: Taking taylor expansion of phi1 in phi1
26.760 * [backup-simplify]: Simplify 0 into 0
26.760 * [backup-simplify]: Simplify 1 into 1
26.760 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.761 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.761 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.761 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.761 * [backup-simplify]: Simplify lambda2 into lambda2
26.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.761 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.761 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.762 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.762 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
26.762 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi1
26.762 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1
26.762 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
26.762 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
26.762 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.762 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.762 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.762 * [backup-simplify]: Simplify -0.5 into -0.5
26.762 * [taylor]: Taking taylor expansion of phi2 in phi1
26.762 * [backup-simplify]: Simplify phi2 into phi2
26.763 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.763 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.763 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.763 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.763 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.764 * [backup-simplify]: Simplify (- 0) into 0
26.764 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.764 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
26.764 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.764 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.764 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.764 * [backup-simplify]: Simplify -0.5 into -0.5
26.764 * [taylor]: Taking taylor expansion of phi1 in phi1
26.764 * [backup-simplify]: Simplify 0 into 0
26.764 * [backup-simplify]: Simplify 1 into 1
26.765 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.765 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.765 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.765 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.765 * [backup-simplify]: Simplify lambda1 into lambda1
26.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.765 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.765 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.765 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.765 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
26.765 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi1
26.766 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
26.766 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
26.766 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.766 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.766 * [backup-simplify]: Simplify -0.5 into -0.5
26.766 * [taylor]: Taking taylor expansion of phi2 in phi1
26.766 * [backup-simplify]: Simplify phi2 into phi2
26.766 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.766 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.766 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.766 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.766 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.766 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.766 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
26.766 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.766 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.766 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.766 * [backup-simplify]: Simplify -0.5 into -0.5
26.766 * [taylor]: Taking taylor expansion of phi1 in phi1
26.766 * [backup-simplify]: Simplify 0 into 0
26.766 * [backup-simplify]: Simplify 1 into 1
26.767 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.767 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.767 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.767 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.767 * [backup-simplify]: Simplify lambda2 into lambda2
26.767 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.767 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.767 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.767 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.767 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
26.767 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) in phi1
26.768 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi1
26.768 * [taylor]: Taking taylor expansion of 2 in phi1
26.768 * [backup-simplify]: Simplify 2 into 2
26.768 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi1
26.768 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
26.768 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
26.768 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
26.768 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.768 * [backup-simplify]: Simplify -0.5 into -0.5
26.768 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
26.768 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
26.768 * [taylor]: Taking taylor expansion of phi1 in phi1
26.768 * [backup-simplify]: Simplify 0 into 0
26.768 * [backup-simplify]: Simplify 1 into 1
26.768 * [backup-simplify]: Simplify (/ 1 1) into 1
26.768 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
26.768 * [taylor]: Taking taylor expansion of phi2 in phi1
26.768 * [backup-simplify]: Simplify phi2 into phi2
26.768 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.768 * [backup-simplify]: Simplify (+ 1 0) into 1
26.769 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
26.769 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.769 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi1
26.769 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.769 * [backup-simplify]: Simplify lambda2 into lambda2
26.769 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.769 * [backup-simplify]: Simplify lambda1 into lambda1
26.769 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.769 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
26.770 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
26.770 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) in phi1
26.770 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi1
26.770 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
26.770 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.770 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.770 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.770 * [backup-simplify]: Simplify -0.5 into -0.5
26.770 * [taylor]: Taking taylor expansion of phi1 in phi1
26.770 * [backup-simplify]: Simplify 0 into 0
26.770 * [backup-simplify]: Simplify 1 into 1
26.770 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.770 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.770 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
26.770 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.770 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.770 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.770 * [backup-simplify]: Simplify -0.5 into -0.5
26.770 * [taylor]: Taking taylor expansion of phi2 in phi1
26.770 * [backup-simplify]: Simplify phi2 into phi2
26.770 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.770 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.770 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.770 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
26.770 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.770 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.770 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.771 * [backup-simplify]: Simplify -0.5 into -0.5
26.771 * [taylor]: Taking taylor expansion of phi2 in phi1
26.771 * [backup-simplify]: Simplify phi2 into phi2
26.771 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.771 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.771 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.771 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.771 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.771 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.771 * [backup-simplify]: Simplify -0.5 into -0.5
26.771 * [taylor]: Taking taylor expansion of phi1 in phi1
26.771 * [backup-simplify]: Simplify 0 into 0
26.771 * [backup-simplify]: Simplify 1 into 1
26.771 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.771 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.771 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.771 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.771 * [backup-simplify]: Simplify lambda2 into lambda2
26.771 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.771 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.772 * [backup-simplify]: Simplify (- 0) into 0
26.772 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.772 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.772 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.772 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.772 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.773 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
26.773 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))) in phi1
26.773 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi1
26.773 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
26.773 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.773 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.773 * [backup-simplify]: Simplify -0.5 into -0.5
26.773 * [taylor]: Taking taylor expansion of phi1 in phi1
26.773 * [backup-simplify]: Simplify 0 into 0
26.773 * [backup-simplify]: Simplify 1 into 1
26.773 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.773 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.773 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
26.773 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.773 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.773 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.773 * [backup-simplify]: Simplify -0.5 into -0.5
26.773 * [taylor]: Taking taylor expansion of phi2 in phi1
26.773 * [backup-simplify]: Simplify phi2 into phi2
26.774 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.774 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
26.774 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.774 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.774 * [backup-simplify]: Simplify -0.5 into -0.5
26.774 * [taylor]: Taking taylor expansion of phi2 in phi1
26.774 * [backup-simplify]: Simplify phi2 into phi2
26.774 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.774 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.774 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.774 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.774 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.774 * [backup-simplify]: Simplify -0.5 into -0.5
26.774 * [taylor]: Taking taylor expansion of phi1 in phi1
26.774 * [backup-simplify]: Simplify 0 into 0
26.774 * [backup-simplify]: Simplify 1 into 1
26.774 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.774 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.774 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.774 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.774 * [backup-simplify]: Simplify lambda1 into lambda1
26.775 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.775 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.775 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.775 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.775 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.775 * [backup-simplify]: Simplify (- 0) into 0
26.775 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.775 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.775 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.776 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.776 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.776 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
26.776 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) in phi1
26.776 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi1
26.776 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
26.776 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.776 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.776 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.776 * [backup-simplify]: Simplify -0.5 into -0.5
26.776 * [taylor]: Taking taylor expansion of phi1 in phi1
26.776 * [backup-simplify]: Simplify 0 into 0
26.776 * [backup-simplify]: Simplify 1 into 1
26.777 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.777 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
26.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.777 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.777 * [backup-simplify]: Simplify -0.5 into -0.5
26.777 * [taylor]: Taking taylor expansion of phi2 in phi1
26.777 * [backup-simplify]: Simplify phi2 into phi2
26.777 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.777 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
26.777 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.777 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.777 * [backup-simplify]: Simplify -0.5 into -0.5
26.777 * [taylor]: Taking taylor expansion of phi2 in phi1
26.777 * [backup-simplify]: Simplify phi2 into phi2
26.777 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.777 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.777 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.777 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.777 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.777 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.777 * [backup-simplify]: Simplify -0.5 into -0.5
26.777 * [taylor]: Taking taylor expansion of phi1 in phi1
26.777 * [backup-simplify]: Simplify 0 into 0
26.777 * [backup-simplify]: Simplify 1 into 1
26.778 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.778 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.778 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi1
26.778 * [taylor]: Taking taylor expansion of lambda2 in phi1
26.778 * [backup-simplify]: Simplify lambda2 into lambda2
26.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.778 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.778 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.778 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.778 * [backup-simplify]: Simplify (- 0) into 0
26.778 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.779 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.779 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.779 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.779 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.779 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
26.779 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi1
26.779 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi1
26.779 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.779 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.779 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.779 * [backup-simplify]: Simplify -0.5 into -0.5
26.779 * [taylor]: Taking taylor expansion of phi1 in phi1
26.779 * [backup-simplify]: Simplify 0 into 0
26.779 * [backup-simplify]: Simplify 1 into 1
26.780 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.780 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi1
26.780 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.780 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.780 * [backup-simplify]: Simplify -0.5 into -0.5
26.780 * [taylor]: Taking taylor expansion of phi2 in phi1
26.780 * [backup-simplify]: Simplify phi2 into phi2
26.780 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.780 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi1
26.780 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.780 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.780 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.780 * [backup-simplify]: Simplify -0.5 into -0.5
26.780 * [taylor]: Taking taylor expansion of phi2 in phi1
26.780 * [backup-simplify]: Simplify phi2 into phi2
26.780 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.780 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.780 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.780 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.781 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.781 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.781 * [backup-simplify]: Simplify -0.5 into -0.5
26.781 * [taylor]: Taking taylor expansion of phi1 in phi1
26.781 * [backup-simplify]: Simplify 0 into 0
26.781 * [backup-simplify]: Simplify 1 into 1
26.781 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.781 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.781 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
26.781 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.781 * [backup-simplify]: Simplify lambda1 into lambda1
26.781 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.781 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.781 * [backup-simplify]: Simplify (- 0) into 0
26.782 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.782 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.782 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.782 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.782 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.782 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.783 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))
26.783 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in phi2
26.783 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in phi2
26.783 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2
26.783 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
26.783 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
26.783 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.783 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.783 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.783 * [backup-simplify]: Simplify -0.5 into -0.5
26.783 * [taylor]: Taking taylor expansion of phi2 in phi2
26.783 * [backup-simplify]: Simplify 0 into 0
26.783 * [backup-simplify]: Simplify 1 into 1
26.783 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.784 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
26.784 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.784 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.784 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.784 * [backup-simplify]: Simplify -0.5 into -0.5
26.784 * [taylor]: Taking taylor expansion of phi1 in phi2
26.784 * [backup-simplify]: Simplify phi1 into phi1
26.784 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.784 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.784 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.784 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.784 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.784 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.784 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.784 * [backup-simplify]: Simplify lambda1 into lambda1
26.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.784 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.785 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.785 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.785 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
26.785 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in phi2
26.785 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2
26.785 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
26.785 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
26.785 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.785 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.785 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.785 * [backup-simplify]: Simplify -0.5 into -0.5
26.785 * [taylor]: Taking taylor expansion of phi2 in phi2
26.785 * [backup-simplify]: Simplify 0 into 0
26.785 * [backup-simplify]: Simplify 1 into 1
26.785 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.786 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.786 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
26.786 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.786 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.786 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.786 * [backup-simplify]: Simplify -0.5 into -0.5
26.786 * [taylor]: Taking taylor expansion of phi1 in phi2
26.786 * [backup-simplify]: Simplify phi1 into phi1
26.786 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.786 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.786 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.786 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.786 * [backup-simplify]: Simplify (- 0) into 0
26.786 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.786 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.786 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.786 * [backup-simplify]: Simplify lambda2 into lambda2
26.786 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.787 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.787 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.787 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.787 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2))
26.787 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in phi2
26.787 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2
26.787 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
26.787 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
26.787 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.787 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.787 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.787 * [backup-simplify]: Simplify -0.5 into -0.5
26.787 * [taylor]: Taking taylor expansion of phi2 in phi2
26.787 * [backup-simplify]: Simplify 0 into 0
26.787 * [backup-simplify]: Simplify 1 into 1
26.788 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.788 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
26.788 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.788 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.788 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.788 * [backup-simplify]: Simplify -0.5 into -0.5
26.788 * [taylor]: Taking taylor expansion of phi1 in phi2
26.788 * [backup-simplify]: Simplify phi1 into phi1
26.788 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.788 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.788 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.788 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.788 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.788 * [backup-simplify]: Simplify (- 0) into 0
26.788 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.789 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.789 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.789 * [backup-simplify]: Simplify lambda1 into lambda1
26.789 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.789 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.789 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.789 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.789 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
26.789 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in phi2
26.789 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
26.789 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
26.789 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.789 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.789 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.790 * [backup-simplify]: Simplify -0.5 into -0.5
26.790 * [taylor]: Taking taylor expansion of phi2 in phi2
26.790 * [backup-simplify]: Simplify 0 into 0
26.790 * [backup-simplify]: Simplify 1 into 1
26.790 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.790 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.790 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
26.790 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.790 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.790 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.790 * [backup-simplify]: Simplify -0.5 into -0.5
26.790 * [taylor]: Taking taylor expansion of phi1 in phi2
26.790 * [backup-simplify]: Simplify phi1 into phi1
26.790 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.790 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.790 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.790 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.790 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.790 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.790 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.790 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.790 * [backup-simplify]: Simplify lambda2 into lambda2
26.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.791 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.791 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.791 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.791 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))
26.791 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) in phi2
26.791 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in phi2
26.791 * [taylor]: Taking taylor expansion of 2 in phi2
26.791 * [backup-simplify]: Simplify 2 into 2
26.791 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in phi2
26.791 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
26.791 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
26.791 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
26.791 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.791 * [backup-simplify]: Simplify -0.5 into -0.5
26.791 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
26.792 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
26.792 * [taylor]: Taking taylor expansion of phi1 in phi2
26.792 * [backup-simplify]: Simplify phi1 into phi1
26.792 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.792 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
26.792 * [taylor]: Taking taylor expansion of phi2 in phi2
26.792 * [backup-simplify]: Simplify 0 into 0
26.792 * [backup-simplify]: Simplify 1 into 1
26.792 * [backup-simplify]: Simplify (/ 1 1) into 1
26.792 * [backup-simplify]: Simplify (+ 0 1) into 1
26.793 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
26.793 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.793 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in phi2
26.793 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.793 * [backup-simplify]: Simplify lambda2 into lambda2
26.793 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.793 * [backup-simplify]: Simplify lambda1 into lambda1
26.793 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.794 * [backup-simplify]: Simplify (* lambda2 lambda1) into (* lambda2 lambda1)
26.794 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))
26.794 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) in phi2
26.794 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in phi2
26.794 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2
26.794 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.794 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.794 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.794 * [backup-simplify]: Simplify -0.5 into -0.5
26.794 * [taylor]: Taking taylor expansion of phi1 in phi2
26.794 * [backup-simplify]: Simplify phi1 into phi1
26.794 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.795 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.795 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.795 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2
26.795 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.795 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.795 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.795 * [backup-simplify]: Simplify -0.5 into -0.5
26.795 * [taylor]: Taking taylor expansion of phi2 in phi2
26.795 * [backup-simplify]: Simplify 0 into 0
26.795 * [backup-simplify]: Simplify 1 into 1
26.796 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.796 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.796 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
26.796 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.796 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.796 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.796 * [backup-simplify]: Simplify -0.5 into -0.5
26.796 * [taylor]: Taking taylor expansion of phi2 in phi2
26.796 * [backup-simplify]: Simplify 0 into 0
26.796 * [backup-simplify]: Simplify 1 into 1
26.797 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.797 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.797 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.797 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.797 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.797 * [backup-simplify]: Simplify -0.5 into -0.5
26.797 * [taylor]: Taking taylor expansion of phi1 in phi2
26.797 * [backup-simplify]: Simplify phi1 into phi1
26.797 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.797 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.797 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.797 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.797 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.797 * [backup-simplify]: Simplify lambda2 into lambda2
26.797 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.798 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.798 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.798 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.798 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.799 * [backup-simplify]: Simplify (- 0) into 0
26.799 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.799 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.799 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.800 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.800 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.801 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2))
26.801 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))) in phi2
26.801 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2
26.801 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
26.801 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.801 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.801 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.801 * [backup-simplify]: Simplify -0.5 into -0.5
26.801 * [taylor]: Taking taylor expansion of phi1 in phi2
26.802 * [backup-simplify]: Simplify phi1 into phi1
26.802 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.802 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.802 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.802 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
26.802 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.802 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.802 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.802 * [backup-simplify]: Simplify -0.5 into -0.5
26.802 * [taylor]: Taking taylor expansion of phi2 in phi2
26.802 * [backup-simplify]: Simplify 0 into 0
26.802 * [backup-simplify]: Simplify 1 into 1
26.811 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.811 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.811 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
26.811 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.811 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.811 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.811 * [backup-simplify]: Simplify -0.5 into -0.5
26.811 * [taylor]: Taking taylor expansion of phi2 in phi2
26.811 * [backup-simplify]: Simplify 0 into 0
26.811 * [backup-simplify]: Simplify 1 into 1
26.812 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.812 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.812 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.812 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.812 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.812 * [backup-simplify]: Simplify -0.5 into -0.5
26.812 * [taylor]: Taking taylor expansion of phi1 in phi2
26.812 * [backup-simplify]: Simplify phi1 into phi1
26.812 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.812 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.813 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.813 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.813 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.813 * [backup-simplify]: Simplify lambda1 into lambda1
26.813 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.813 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.813 * [backup-simplify]: Simplify (- 0) into 0
26.813 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.814 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.814 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.814 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.814 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.814 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.815 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.815 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.815 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
26.815 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) in phi2
26.815 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in phi2
26.815 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
26.815 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.815 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.815 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.816 * [backup-simplify]: Simplify -0.5 into -0.5
26.816 * [taylor]: Taking taylor expansion of phi1 in phi2
26.816 * [backup-simplify]: Simplify phi1 into phi1
26.816 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.816 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.816 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.816 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
26.816 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.816 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.816 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.816 * [backup-simplify]: Simplify -0.5 into -0.5
26.816 * [taylor]: Taking taylor expansion of phi2 in phi2
26.816 * [backup-simplify]: Simplify 0 into 0
26.816 * [backup-simplify]: Simplify 1 into 1
26.817 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.817 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.817 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
26.817 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.817 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.817 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.817 * [backup-simplify]: Simplify -0.5 into -0.5
26.817 * [taylor]: Taking taylor expansion of phi2 in phi2
26.817 * [backup-simplify]: Simplify 0 into 0
26.817 * [backup-simplify]: Simplify 1 into 1
26.818 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.818 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.818 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.818 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.818 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.818 * [backup-simplify]: Simplify -0.5 into -0.5
26.818 * [taylor]: Taking taylor expansion of phi1 in phi2
26.818 * [backup-simplify]: Simplify phi1 into phi1
26.818 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.818 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.818 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.818 * [taylor]: Taking taylor expansion of (pow lambda2 2) in phi2
26.818 * [taylor]: Taking taylor expansion of lambda2 in phi2
26.818 * [backup-simplify]: Simplify lambda2 into lambda2
26.818 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.818 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.819 * [backup-simplify]: Simplify (- 0) into 0
26.819 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.819 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.819 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.819 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.820 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.820 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.820 * [backup-simplify]: Simplify (* lambda2 lambda2) into (pow lambda2 2)
26.821 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda2 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2))
26.821 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in phi2
26.821 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2
26.821 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.821 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.821 * [backup-simplify]: Simplify -0.5 into -0.5
26.821 * [taylor]: Taking taylor expansion of phi1 in phi2
26.821 * [backup-simplify]: Simplify phi1 into phi1
26.821 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.821 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.821 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.821 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2
26.821 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.821 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.821 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.821 * [backup-simplify]: Simplify -0.5 into -0.5
26.821 * [taylor]: Taking taylor expansion of phi2 in phi2
26.821 * [backup-simplify]: Simplify 0 into 0
26.821 * [backup-simplify]: Simplify 1 into 1
26.822 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.822 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.822 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
26.822 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.822 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.822 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.822 * [backup-simplify]: Simplify -0.5 into -0.5
26.822 * [taylor]: Taking taylor expansion of phi2 in phi2
26.822 * [backup-simplify]: Simplify 0 into 0
26.822 * [backup-simplify]: Simplify 1 into 1
26.823 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.823 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.823 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.823 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.823 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.823 * [backup-simplify]: Simplify -0.5 into -0.5
26.823 * [taylor]: Taking taylor expansion of phi1 in phi2
26.823 * [backup-simplify]: Simplify phi1 into phi1
26.823 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.823 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.823 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.823 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
26.823 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.823 * [backup-simplify]: Simplify lambda1 into lambda1
26.823 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.823 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.824 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.824 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.824 * [backup-simplify]: Simplify (- 0) into 0
26.824 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.824 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.825 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.825 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.825 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.826 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))
26.826 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in lambda2
26.826 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2
26.826 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2
26.826 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
26.826 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
26.826 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.826 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.826 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.826 * [backup-simplify]: Simplify -0.5 into -0.5
26.826 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.826 * [backup-simplify]: Simplify phi2 into phi2
26.826 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.826 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.826 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.826 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.827 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
26.827 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.827 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.827 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.827 * [backup-simplify]: Simplify -0.5 into -0.5
26.827 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.827 * [backup-simplify]: Simplify phi1 into phi1
26.827 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.827 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.827 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.827 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.827 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.827 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.827 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.827 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.827 * [backup-simplify]: Simplify lambda1 into lambda1
26.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.828 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.828 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.828 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.829 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
26.829 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2
26.829 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
26.829 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
26.829 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
26.829 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.829 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.829 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.829 * [backup-simplify]: Simplify -0.5 into -0.5
26.829 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.829 * [backup-simplify]: Simplify phi2 into phi2
26.829 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.829 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.829 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.829 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.830 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.830 * [backup-simplify]: Simplify (- 0) into 0
26.830 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.830 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
26.830 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.830 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.830 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.830 * [backup-simplify]: Simplify -0.5 into -0.5
26.830 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.830 * [backup-simplify]: Simplify phi1 into phi1
26.831 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.831 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.831 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.831 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.831 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.831 * [backup-simplify]: Simplify (- 0) into 0
26.831 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.832 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.832 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.832 * [backup-simplify]: Simplify 0 into 0
26.832 * [backup-simplify]: Simplify 1 into 1
26.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.832 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.832 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.833 * [backup-simplify]: Simplify (* 1 1) into 1
26.833 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.833 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2
26.833 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2
26.833 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
26.833 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
26.833 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.833 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.833 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.833 * [backup-simplify]: Simplify -0.5 into -0.5
26.833 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.833 * [backup-simplify]: Simplify phi2 into phi2
26.834 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.834 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.834 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.834 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.834 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.834 * [backup-simplify]: Simplify (- 0) into 0
26.834 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.834 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
26.834 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.835 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.835 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.835 * [backup-simplify]: Simplify -0.5 into -0.5
26.835 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.835 * [backup-simplify]: Simplify phi1 into phi1
26.835 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.835 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.835 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.835 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.835 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.835 * [backup-simplify]: Simplify (- 0) into 0
26.836 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.836 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.836 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.836 * [backup-simplify]: Simplify lambda1 into lambda1
26.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.836 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.836 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.836 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.837 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
26.837 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
26.837 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
26.837 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
26.837 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.837 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.837 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.837 * [backup-simplify]: Simplify -0.5 into -0.5
26.837 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.837 * [backup-simplify]: Simplify phi2 into phi2
26.837 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.837 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.837 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.838 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.838 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
26.838 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.838 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.838 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.838 * [backup-simplify]: Simplify -0.5 into -0.5
26.838 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.838 * [backup-simplify]: Simplify phi1 into phi1
26.838 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.838 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.838 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.838 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.838 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.839 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.839 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.839 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.839 * [backup-simplify]: Simplify 0 into 0
26.839 * [backup-simplify]: Simplify 1 into 1
26.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.839 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.839 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.840 * [backup-simplify]: Simplify (* 1 1) into 1
26.840 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.840 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) in lambda2
26.840 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
26.840 * [taylor]: Taking taylor expansion of 2 in lambda2
26.840 * [backup-simplify]: Simplify 2 into 2
26.840 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
26.840 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
26.840 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
26.840 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
26.841 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.841 * [backup-simplify]: Simplify -0.5 into -0.5
26.841 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
26.841 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
26.841 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.841 * [backup-simplify]: Simplify phi1 into phi1
26.841 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.841 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
26.841 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.841 * [backup-simplify]: Simplify phi2 into phi2
26.841 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.841 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
26.841 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
26.841 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.841 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.842 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.842 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
26.842 * [backup-simplify]: Simplify (- 0) into 0
26.842 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.843 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
26.843 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.843 * [backup-simplify]: Simplify 0 into 0
26.843 * [backup-simplify]: Simplify 1 into 1
26.843 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.843 * [backup-simplify]: Simplify lambda1 into lambda1
26.843 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.843 * [backup-simplify]: Simplify (* 0 lambda1) into 0
26.844 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
26.844 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
26.844 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) in lambda2
26.844 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
26.844 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2
26.844 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.844 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.844 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.844 * [backup-simplify]: Simplify -0.5 into -0.5
26.844 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.844 * [backup-simplify]: Simplify phi1 into phi1
26.844 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.844 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.844 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.845 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2
26.845 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.845 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.845 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.845 * [backup-simplify]: Simplify -0.5 into -0.5
26.845 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.845 * [backup-simplify]: Simplify phi2 into phi2
26.845 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.845 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.845 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
26.845 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.845 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.845 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.845 * [backup-simplify]: Simplify -0.5 into -0.5
26.845 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.845 * [backup-simplify]: Simplify phi2 into phi2
26.845 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.845 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.845 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.845 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.846 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.846 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.846 * [backup-simplify]: Simplify -0.5 into -0.5
26.846 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.846 * [backup-simplify]: Simplify phi1 into phi1
26.846 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.846 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.846 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.846 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.846 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.846 * [backup-simplify]: Simplify 0 into 0
26.846 * [backup-simplify]: Simplify 1 into 1
26.846 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.846 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.846 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.847 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.847 * [backup-simplify]: Simplify (- 0) into 0
26.847 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.848 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.848 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.848 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.848 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.848 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.848 * [backup-simplify]: Simplify (- 0) into 0
26.849 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.849 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.849 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.849 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.850 * [backup-simplify]: Simplify (* 1 1) into 1
26.850 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
26.850 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))) in lambda2
26.850 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2
26.850 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
26.850 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.850 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.850 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.850 * [backup-simplify]: Simplify -0.5 into -0.5
26.850 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.850 * [backup-simplify]: Simplify phi1 into phi1
26.850 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.851 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
26.851 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.851 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.851 * [backup-simplify]: Simplify -0.5 into -0.5
26.851 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.851 * [backup-simplify]: Simplify phi2 into phi2
26.851 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.851 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.851 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
26.851 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.851 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.851 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.851 * [backup-simplify]: Simplify -0.5 into -0.5
26.851 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.851 * [backup-simplify]: Simplify phi2 into phi2
26.851 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.851 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.852 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.852 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.852 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.852 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.852 * [backup-simplify]: Simplify -0.5 into -0.5
26.852 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.852 * [backup-simplify]: Simplify phi1 into phi1
26.852 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.852 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.852 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.852 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.852 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.852 * [backup-simplify]: Simplify lambda1 into lambda1
26.852 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.852 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.853 * [backup-simplify]: Simplify (- 0) into 0
26.853 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.853 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.853 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.853 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.853 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.853 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.853 * [backup-simplify]: Simplify (- 0) into 0
26.853 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.853 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.853 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.854 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.854 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.854 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.854 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.854 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.854 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
26.854 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) in lambda2
26.854 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
26.854 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
26.854 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.854 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.854 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.855 * [backup-simplify]: Simplify -0.5 into -0.5
26.855 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.855 * [backup-simplify]: Simplify phi1 into phi1
26.855 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.855 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
26.855 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.855 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.855 * [backup-simplify]: Simplify -0.5 into -0.5
26.855 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.855 * [backup-simplify]: Simplify phi2 into phi2
26.855 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.855 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
26.855 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.855 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.855 * [backup-simplify]: Simplify -0.5 into -0.5
26.855 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.855 * [backup-simplify]: Simplify phi2 into phi2
26.855 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.855 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.855 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.855 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.855 * [backup-simplify]: Simplify -0.5 into -0.5
26.855 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.855 * [backup-simplify]: Simplify phi1 into phi1
26.855 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.855 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.855 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.856 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.856 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.856 * [backup-simplify]: Simplify 0 into 0
26.856 * [backup-simplify]: Simplify 1 into 1
26.856 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.856 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.856 * [backup-simplify]: Simplify (- 0) into 0
26.856 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.856 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.856 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.856 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.856 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.856 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.857 * [backup-simplify]: Simplify (- 0) into 0
26.857 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.857 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.857 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.857 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.858 * [backup-simplify]: Simplify (* 1 1) into 1
26.858 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
26.858 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2
26.858 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2
26.858 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.858 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.858 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.858 * [backup-simplify]: Simplify -0.5 into -0.5
26.858 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.858 * [backup-simplify]: Simplify phi1 into phi1
26.858 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.858 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.858 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.858 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2
26.858 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.858 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.858 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.858 * [backup-simplify]: Simplify -0.5 into -0.5
26.858 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.858 * [backup-simplify]: Simplify phi2 into phi2
26.858 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.858 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.858 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.859 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
26.859 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.859 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.859 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.859 * [backup-simplify]: Simplify -0.5 into -0.5
26.859 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.859 * [backup-simplify]: Simplify phi2 into phi2
26.859 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.859 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.859 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.859 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.859 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.859 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.859 * [backup-simplify]: Simplify -0.5 into -0.5
26.859 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.859 * [backup-simplify]: Simplify phi1 into phi1
26.859 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.859 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.859 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.859 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.859 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.859 * [backup-simplify]: Simplify lambda1 into lambda1
26.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.859 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.859 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.859 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.860 * [backup-simplify]: Simplify (- 0) into 0
26.860 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.860 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.860 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.860 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.860 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.860 * [backup-simplify]: Simplify (- 0) into 0
26.860 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.861 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.861 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.861 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.861 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.861 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))
26.861 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))))) in lambda2
26.861 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))))) in lambda2
26.861 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2
26.861 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
26.861 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
26.861 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.861 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.861 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.861 * [backup-simplify]: Simplify -0.5 into -0.5
26.862 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.862 * [backup-simplify]: Simplify phi2 into phi2
26.862 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.862 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.862 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.862 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.862 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
26.862 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.862 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.862 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.862 * [backup-simplify]: Simplify -0.5 into -0.5
26.862 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.862 * [backup-simplify]: Simplify phi1 into phi1
26.862 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.862 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.862 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.862 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.862 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.862 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.862 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.862 * [backup-simplify]: Simplify lambda1 into lambda1
26.862 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.863 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.863 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.863 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.863 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
26.863 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)))) in lambda2
26.863 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
26.863 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
26.863 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
26.863 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.863 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.863 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.863 * [backup-simplify]: Simplify -0.5 into -0.5
26.863 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.863 * [backup-simplify]: Simplify phi2 into phi2
26.863 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.863 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.864 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.864 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.864 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.864 * [backup-simplify]: Simplify (- 0) into 0
26.864 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.864 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
26.864 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.864 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.864 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.864 * [backup-simplify]: Simplify -0.5 into -0.5
26.864 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.864 * [backup-simplify]: Simplify phi1 into phi1
26.864 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.864 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.864 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.864 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.864 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.865 * [backup-simplify]: Simplify (- 0) into 0
26.865 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.865 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.865 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.865 * [backup-simplify]: Simplify 0 into 0
26.865 * [backup-simplify]: Simplify 1 into 1
26.865 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.865 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.865 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.866 * [backup-simplify]: Simplify (* 1 1) into 1
26.866 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.866 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2))) in lambda2
26.866 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda2
26.866 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda2
26.866 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda2
26.866 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.866 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.866 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.866 * [backup-simplify]: Simplify -0.5 into -0.5
26.866 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.866 * [backup-simplify]: Simplify phi2 into phi2
26.866 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.866 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.866 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.866 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.866 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.867 * [backup-simplify]: Simplify (- 0) into 0
26.867 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.867 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda2
26.867 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.867 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.867 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.867 * [backup-simplify]: Simplify -0.5 into -0.5
26.867 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.867 * [backup-simplify]: Simplify phi1 into phi1
26.867 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.867 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.867 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.867 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.867 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.868 * [backup-simplify]: Simplify (- 0) into 0
26.868 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.868 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.868 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.868 * [backup-simplify]: Simplify lambda1 into lambda1
26.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.868 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.868 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.868 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.868 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
26.868 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda2 2)) in lambda2
26.868 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda2
26.868 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda2
26.869 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.869 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.869 * [backup-simplify]: Simplify -0.5 into -0.5
26.869 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.869 * [backup-simplify]: Simplify phi2 into phi2
26.869 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.869 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.869 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.869 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.869 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda2
26.869 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.869 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.869 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.869 * [backup-simplify]: Simplify -0.5 into -0.5
26.869 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.869 * [backup-simplify]: Simplify phi1 into phi1
26.869 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.869 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.869 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.869 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.869 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.869 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.869 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.869 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.869 * [backup-simplify]: Simplify 0 into 0
26.869 * [backup-simplify]: Simplify 1 into 1
26.870 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.870 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.870 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.870 * [backup-simplify]: Simplify (* 1 1) into 1
26.870 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.870 * [taylor]: Taking taylor expansion of (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))))) in lambda2
26.871 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1))) in lambda2
26.871 * [taylor]: Taking taylor expansion of 2 in lambda2
26.871 * [backup-simplify]: Simplify 2 into 2
26.871 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) (* lambda2 lambda1)) in lambda2
26.871 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda2
26.871 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda2
26.871 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda2
26.871 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.871 * [backup-simplify]: Simplify -0.5 into -0.5
26.871 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda2
26.871 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda2
26.871 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.871 * [backup-simplify]: Simplify phi1 into phi1
26.871 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.871 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda2
26.871 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.871 * [backup-simplify]: Simplify phi2 into phi2
26.871 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.871 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
26.871 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
26.871 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.871 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.871 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.871 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
26.872 * [backup-simplify]: Simplify (- 0) into 0
26.872 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.872 * [taylor]: Taking taylor expansion of (* lambda2 lambda1) in lambda2
26.872 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.872 * [backup-simplify]: Simplify 0 into 0
26.872 * [backup-simplify]: Simplify 1 into 1
26.872 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.872 * [backup-simplify]: Simplify lambda1 into lambda1
26.872 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.872 * [backup-simplify]: Simplify (* 0 lambda1) into 0
26.873 * [backup-simplify]: Simplify (+ (* 0 0) (* 1 lambda1)) into lambda1
26.873 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
26.873 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))))) in lambda2
26.873 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
26.873 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2
26.873 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.873 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.873 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.873 * [backup-simplify]: Simplify -0.5 into -0.5
26.873 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.873 * [backup-simplify]: Simplify phi1 into phi1
26.873 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.873 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.873 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.873 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2
26.873 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.873 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.873 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.873 * [backup-simplify]: Simplify -0.5 into -0.5
26.873 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.873 * [backup-simplify]: Simplify phi2 into phi2
26.873 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.873 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.873 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.873 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
26.873 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.873 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.873 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.873 * [backup-simplify]: Simplify -0.5 into -0.5
26.873 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.874 * [backup-simplify]: Simplify phi2 into phi2
26.874 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.874 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.874 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.874 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.874 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.874 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.874 * [backup-simplify]: Simplify -0.5 into -0.5
26.874 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.874 * [backup-simplify]: Simplify phi1 into phi1
26.874 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.874 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.874 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.874 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.874 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.874 * [backup-simplify]: Simplify 0 into 0
26.874 * [backup-simplify]: Simplify 1 into 1
26.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.874 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.874 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.874 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.875 * [backup-simplify]: Simplify (- 0) into 0
26.875 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.875 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.875 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.875 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.875 * [backup-simplify]: Simplify (- 0) into 0
26.875 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.875 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.876 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.876 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.876 * [backup-simplify]: Simplify (* 1 1) into 1
26.876 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
26.876 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)))) in lambda2
26.876 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2
26.876 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
26.876 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.876 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.876 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.876 * [backup-simplify]: Simplify -0.5 into -0.5
26.876 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.877 * [backup-simplify]: Simplify phi1 into phi1
26.877 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.877 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
26.877 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.877 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.877 * [backup-simplify]: Simplify -0.5 into -0.5
26.877 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.877 * [backup-simplify]: Simplify phi2 into phi2
26.877 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.877 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.877 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.877 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
26.877 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.877 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.877 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.877 * [backup-simplify]: Simplify -0.5 into -0.5
26.877 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.877 * [backup-simplify]: Simplify phi2 into phi2
26.877 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.878 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.878 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.878 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.878 * [backup-simplify]: Simplify -0.5 into -0.5
26.878 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.878 * [backup-simplify]: Simplify phi1 into phi1
26.878 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.878 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.878 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.878 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.878 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.878 * [backup-simplify]: Simplify lambda1 into lambda1
26.878 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.878 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.879 * [backup-simplify]: Simplify (- 0) into 0
26.879 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.879 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.879 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.879 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.880 * [backup-simplify]: Simplify (- 0) into 0
26.880 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.880 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.880 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.880 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.881 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.881 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.881 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.882 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
26.882 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) in lambda2
26.882 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda2 2)) in lambda2
26.882 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda2
26.882 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.882 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.882 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.882 * [backup-simplify]: Simplify -0.5 into -0.5
26.882 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.882 * [backup-simplify]: Simplify phi1 into phi1
26.882 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.883 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda2
26.883 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.883 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.883 * [backup-simplify]: Simplify -0.5 into -0.5
26.883 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.883 * [backup-simplify]: Simplify phi2 into phi2
26.883 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.883 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.883 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.883 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda2
26.883 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.883 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.883 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.883 * [backup-simplify]: Simplify -0.5 into -0.5
26.883 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.883 * [backup-simplify]: Simplify phi2 into phi2
26.884 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.884 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.884 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.884 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.884 * [backup-simplify]: Simplify -0.5 into -0.5
26.884 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.884 * [backup-simplify]: Simplify phi1 into phi1
26.884 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.884 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.884 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.884 * [taylor]: Taking taylor expansion of (pow lambda2 2) in lambda2
26.884 * [taylor]: Taking taylor expansion of lambda2 in lambda2
26.884 * [backup-simplify]: Simplify 0 into 0
26.884 * [backup-simplify]: Simplify 1 into 1
26.885 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.885 * [backup-simplify]: Simplify (- 0) into 0
26.885 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.885 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.886 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.886 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.886 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.886 * [backup-simplify]: Simplify (- 0) into 0
26.887 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.887 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.887 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.887 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
26.888 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
26.888 * [backup-simplify]: Simplify (* 1 1) into 1
26.889 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
26.889 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2)) in lambda2
26.889 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in lambda2
26.889 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda2
26.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.889 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.889 * [backup-simplify]: Simplify -0.5 into -0.5
26.889 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.889 * [backup-simplify]: Simplify phi1 into phi1
26.889 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.889 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.889 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.889 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in lambda2
26.889 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda2
26.889 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.889 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.889 * [backup-simplify]: Simplify -0.5 into -0.5
26.889 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.889 * [backup-simplify]: Simplify phi2 into phi2
26.889 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.890 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in lambda2
26.890 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda2
26.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda2
26.890 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.890 * [backup-simplify]: Simplify -0.5 into -0.5
26.890 * [taylor]: Taking taylor expansion of phi2 in lambda2
26.890 * [backup-simplify]: Simplify phi2 into phi2
26.890 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.890 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.890 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda2
26.890 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda2
26.890 * [taylor]: Taking taylor expansion of -0.5 in lambda2
26.890 * [backup-simplify]: Simplify -0.5 into -0.5
26.890 * [taylor]: Taking taylor expansion of phi1 in lambda2
26.890 * [backup-simplify]: Simplify phi1 into phi1
26.890 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.890 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.891 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.891 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda2
26.891 * [taylor]: Taking taylor expansion of lambda1 in lambda2
26.891 * [backup-simplify]: Simplify lambda1 into lambda1
26.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.891 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.891 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.891 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.892 * [backup-simplify]: Simplify (- 0) into 0
26.892 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.892 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.892 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.892 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.892 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.893 * [backup-simplify]: Simplify (- 0) into 0
26.893 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.893 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.893 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))
26.894 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
26.894 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
26.894 * [backup-simplify]: Simplify (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))
26.895 * [backup-simplify]: Simplify (+ 0 (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.896 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
26.897 * [backup-simplify]: Simplify (+ 0 (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
26.897 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) 0) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
26.898 * [backup-simplify]: Simplify (+ 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
26.898 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
26.899 * [backup-simplify]: Simplify (+ 0 (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
26.900 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
26.902 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
26.902 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) in phi2
26.902 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi2
26.902 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
26.902 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
26.902 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.902 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.902 * [backup-simplify]: Simplify -0.5 into -0.5
26.902 * [taylor]: Taking taylor expansion of phi2 in phi2
26.902 * [backup-simplify]: Simplify 0 into 0
26.902 * [backup-simplify]: Simplify 1 into 1
26.902 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.902 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.902 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
26.902 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.902 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.902 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.902 * [backup-simplify]: Simplify -0.5 into -0.5
26.902 * [taylor]: Taking taylor expansion of phi1 in phi2
26.903 * [backup-simplify]: Simplify phi1 into phi1
26.903 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.903 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.903 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.903 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.903 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.903 * [backup-simplify]: Simplify (- 0) into 0
26.903 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.903 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
26.903 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
26.903 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.903 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.903 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.903 * [backup-simplify]: Simplify -0.5 into -0.5
26.903 * [taylor]: Taking taylor expansion of phi2 in phi2
26.903 * [backup-simplify]: Simplify 0 into 0
26.903 * [backup-simplify]: Simplify 1 into 1
26.904 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.904 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
26.904 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.904 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.904 * [backup-simplify]: Simplify -0.5 into -0.5
26.904 * [taylor]: Taking taylor expansion of phi1 in phi2
26.904 * [backup-simplify]: Simplify phi1 into phi1
26.904 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.904 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.904 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.904 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.904 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.904 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.904 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) in phi2
26.904 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
26.904 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.904 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.904 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.904 * [backup-simplify]: Simplify -0.5 into -0.5
26.904 * [taylor]: Taking taylor expansion of phi2 in phi2
26.904 * [backup-simplify]: Simplify 0 into 0
26.904 * [backup-simplify]: Simplify 1 into 1
26.905 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.905 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.905 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
26.905 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.905 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.905 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.905 * [backup-simplify]: Simplify -0.5 into -0.5
26.905 * [taylor]: Taking taylor expansion of phi1 in phi2
26.905 * [backup-simplify]: Simplify phi1 into phi1
26.905 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.905 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.905 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.905 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
26.905 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.905 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.905 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.905 * [backup-simplify]: Simplify -0.5 into -0.5
26.905 * [taylor]: Taking taylor expansion of phi2 in phi2
26.905 * [backup-simplify]: Simplify 0 into 0
26.905 * [backup-simplify]: Simplify 1 into 1
26.906 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.906 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.906 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.906 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.906 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.906 * [backup-simplify]: Simplify -0.5 into -0.5
26.906 * [taylor]: Taking taylor expansion of phi1 in phi2
26.906 * [backup-simplify]: Simplify phi1 into phi1
26.906 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.906 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.906 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.906 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) in phi2
26.906 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
26.906 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.906 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.906 * [backup-simplify]: Simplify -0.5 into -0.5
26.906 * [taylor]: Taking taylor expansion of phi2 in phi2
26.906 * [backup-simplify]: Simplify 0 into 0
26.906 * [backup-simplify]: Simplify 1 into 1
26.906 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.906 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.906 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) in phi2
26.906 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
26.906 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.906 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.907 * [backup-simplify]: Simplify -0.5 into -0.5
26.907 * [taylor]: Taking taylor expansion of phi1 in phi2
26.907 * [backup-simplify]: Simplify phi1 into phi1
26.907 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.907 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) in phi2
26.907 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
26.907 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
26.907 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.907 * [backup-simplify]: Simplify -0.5 into -0.5
26.907 * [taylor]: Taking taylor expansion of phi2 in phi2
26.907 * [backup-simplify]: Simplify 0 into 0
26.907 * [backup-simplify]: Simplify 1 into 1
26.907 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.907 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
26.907 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
26.907 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.907 * [backup-simplify]: Simplify -0.5 into -0.5
26.907 * [taylor]: Taking taylor expansion of phi1 in phi2
26.907 * [backup-simplify]: Simplify phi1 into phi1
26.907 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.907 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.907 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.908 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.908 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.908 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.908 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.909 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
26.909 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.909 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.909 * [backup-simplify]: Simplify (- 0) into 0
26.909 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.909 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.909 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.910 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.910 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
26.910 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
26.910 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
26.910 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.910 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.910 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.910 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.910 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.911 * [backup-simplify]: Simplify (- 0) into 0
26.911 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.911 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))
26.911 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))
26.911 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))
26.912 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))
26.912 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
26.913 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))))
26.913 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) in phi1
26.913 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in phi1
26.913 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
26.913 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
26.913 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.913 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.913 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.913 * [backup-simplify]: Simplify -0.5 into -0.5
26.913 * [taylor]: Taking taylor expansion of phi2 in phi1
26.914 * [backup-simplify]: Simplify phi2 into phi2
26.914 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.914 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.914 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.914 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.914 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.914 * [backup-simplify]: Simplify (- 0) into 0
26.914 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.914 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
26.914 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.914 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.914 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.914 * [backup-simplify]: Simplify -0.5 into -0.5
26.914 * [taylor]: Taking taylor expansion of phi1 in phi1
26.914 * [backup-simplify]: Simplify 0 into 0
26.914 * [backup-simplify]: Simplify 1 into 1
26.915 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.915 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
26.915 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
26.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.915 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.915 * [backup-simplify]: Simplify -0.5 into -0.5
26.915 * [taylor]: Taking taylor expansion of phi2 in phi1
26.915 * [backup-simplify]: Simplify phi2 into phi2
26.915 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.915 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.915 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.915 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.915 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.915 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.915 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
26.915 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.915 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.915 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.915 * [backup-simplify]: Simplify -0.5 into -0.5
26.915 * [taylor]: Taking taylor expansion of phi1 in phi1
26.915 * [backup-simplify]: Simplify 0 into 0
26.915 * [backup-simplify]: Simplify 1 into 1
26.916 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.916 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.916 * [taylor]: Taking taylor expansion of (+ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) in phi1
26.916 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) in phi1
26.916 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.916 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.916 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.916 * [backup-simplify]: Simplify -0.5 into -0.5
26.916 * [taylor]: Taking taylor expansion of phi2 in phi1
26.916 * [backup-simplify]: Simplify phi2 into phi2
26.916 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.916 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.916 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.916 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) in phi1
26.916 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.916 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.916 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.916 * [backup-simplify]: Simplify -0.5 into -0.5
26.916 * [taylor]: Taking taylor expansion of phi1 in phi1
26.916 * [backup-simplify]: Simplify 0 into 0
26.916 * [backup-simplify]: Simplify 1 into 1
26.917 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.917 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.917 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) in phi1
26.917 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.917 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.917 * [backup-simplify]: Simplify -0.5 into -0.5
26.917 * [taylor]: Taking taylor expansion of phi1 in phi1
26.917 * [backup-simplify]: Simplify 0 into 0
26.917 * [backup-simplify]: Simplify 1 into 1
26.917 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.917 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.917 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.917 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.917 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.917 * [backup-simplify]: Simplify -0.5 into -0.5
26.917 * [taylor]: Taking taylor expansion of phi2 in phi1
26.917 * [backup-simplify]: Simplify phi2 into phi2
26.917 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.918 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.918 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) in phi1
26.918 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
26.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.918 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.918 * [backup-simplify]: Simplify -0.5 into -0.5
26.918 * [taylor]: Taking taylor expansion of phi2 in phi1
26.918 * [backup-simplify]: Simplify phi2 into phi2
26.918 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.918 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.918 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) in phi1
26.918 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
26.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.918 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.918 * [backup-simplify]: Simplify -0.5 into -0.5
26.918 * [taylor]: Taking taylor expansion of phi1 in phi1
26.918 * [backup-simplify]: Simplify 0 into 0
26.918 * [backup-simplify]: Simplify 1 into 1
26.918 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.918 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.918 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) in phi1
26.918 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
26.918 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
26.918 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.918 * [backup-simplify]: Simplify -0.5 into -0.5
26.918 * [taylor]: Taking taylor expansion of phi1 in phi1
26.918 * [backup-simplify]: Simplify 0 into 0
26.919 * [backup-simplify]: Simplify 1 into 1
26.919 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
26.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.919 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
26.919 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
26.919 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.919 * [backup-simplify]: Simplify -0.5 into -0.5
26.919 * [taylor]: Taking taylor expansion of phi2 in phi1
26.919 * [backup-simplify]: Simplify phi2 into phi2
26.919 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.919 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.919 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.919 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
26.919 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
26.920 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
26.920 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
26.920 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
26.920 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
26.921 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
26.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.921 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.921 * [backup-simplify]: Simplify (- 0) into 0
26.921 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.921 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))) into (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))
26.921 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))
26.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))
26.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.922 * [backup-simplify]: Simplify (- 0) into 0
26.922 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.922 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.922 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.922 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.923 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))) into (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))
26.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))
26.923 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))
26.923 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))
26.924 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
26.925 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))))
26.925 * [taylor]: Taking taylor expansion of (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) in lambda1
26.925 * [taylor]: Taking taylor expansion of (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) in lambda1
26.925 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
26.925 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
26.925 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.925 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.925 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.925 * [backup-simplify]: Simplify -0.5 into -0.5
26.925 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.926 * [backup-simplify]: Simplify phi2 into phi2
26.926 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.926 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.926 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.926 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
26.926 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
26.926 * [backup-simplify]: Simplify (- 0) into 0
26.926 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
26.926 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
26.926 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.926 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.926 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.926 * [backup-simplify]: Simplify -0.5 into -0.5
26.926 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.926 * [backup-simplify]: Simplify phi1 into phi1
26.926 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.926 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.926 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
26.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
26.927 * [backup-simplify]: Simplify (- 0) into 0
26.927 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
26.927 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
26.927 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
26.927 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.927 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.927 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.927 * [backup-simplify]: Simplify -0.5 into -0.5
26.927 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.927 * [backup-simplify]: Simplify phi2 into phi2
26.927 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.927 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.927 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.927 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
26.927 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
26.928 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
26.928 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
26.928 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.928 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.928 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.928 * [backup-simplify]: Simplify -0.5 into -0.5
26.928 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.928 * [backup-simplify]: Simplify phi1 into phi1
26.928 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.928 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.928 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.928 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
26.928 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
26.928 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
26.928 * [taylor]: Taking taylor expansion of (+ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) in lambda1
26.928 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))) in lambda1
26.928 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.928 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.928 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.928 * [backup-simplify]: Simplify -0.5 into -0.5
26.928 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.928 * [backup-simplify]: Simplify phi2 into phi2
26.928 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.928 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.928 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.928 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) in lambda1
26.928 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.928 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.928 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.928 * [backup-simplify]: Simplify -0.5 into -0.5
26.928 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.928 * [backup-simplify]: Simplify phi2 into phi2
26.929 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.929 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) in lambda1
26.929 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.929 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.929 * [backup-simplify]: Simplify -0.5 into -0.5
26.929 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.929 * [backup-simplify]: Simplify phi1 into phi1
26.929 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.929 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.929 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.929 * [backup-simplify]: Simplify -0.5 into -0.5
26.929 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.929 * [backup-simplify]: Simplify phi1 into phi1
26.929 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.929 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))) in lambda1
26.929 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
26.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.929 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.929 * [backup-simplify]: Simplify -0.5 into -0.5
26.929 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.929 * [backup-simplify]: Simplify phi2 into phi2
26.929 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.929 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.929 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.929 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) in lambda1
26.929 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
26.929 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
26.929 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.930 * [backup-simplify]: Simplify -0.5 into -0.5
26.930 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.930 * [backup-simplify]: Simplify phi2 into phi2
26.930 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
26.930 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
26.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
26.930 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) in lambda1
26.930 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
26.930 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.930 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.930 * [backup-simplify]: Simplify -0.5 into -0.5
26.930 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.930 * [backup-simplify]: Simplify phi1 into phi1
26.930 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.930 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.930 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
26.930 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
26.930 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.930 * [backup-simplify]: Simplify -0.5 into -0.5
26.930 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.930 * [backup-simplify]: Simplify phi1 into phi1
26.930 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
26.930 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
26.930 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
26.931 * [backup-simplify]: Simplify (+ 0) into 0
26.931 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
26.931 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
26.932 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.932 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
26.932 * [backup-simplify]: Simplify (- 0) into 0
26.932 * [backup-simplify]: Simplify (+ 0 0) into 0
26.932 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
26.933 * [backup-simplify]: Simplify (+ 0) into 0
26.933 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
26.933 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
26.934 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.934 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
26.934 * [backup-simplify]: Simplify (- 0) into 0
26.934 * [backup-simplify]: Simplify (+ 0 0) into 0
26.935 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
26.935 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
26.935 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.936 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
26.936 * [backup-simplify]: Simplify (+ 0) into 0
26.937 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
26.937 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
26.938 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.938 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
26.939 * [backup-simplify]: Simplify (+ 0 0) into 0
26.939 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
26.939 * [backup-simplify]: Simplify (+ 0) into 0
26.940 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
26.940 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
26.941 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.941 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
26.941 * [backup-simplify]: Simplify (+ 0 0) into 0
26.942 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
26.942 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
26.943 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.944 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)))) into 0
26.945 * [backup-simplify]: Simplify (+ 0 0) into 0
26.945 * [backup-simplify]: Simplify (+ 0 0) into 0
26.945 * [backup-simplify]: Simplify (+ 0 0) into 0
26.946 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
26.946 * [backup-simplify]: Simplify (+ 0) into 0
26.947 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
26.947 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
26.948 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.948 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
26.948 * [backup-simplify]: Simplify (- 0) into 0
26.949 * [backup-simplify]: Simplify (+ 0 0) into 0
26.949 * [backup-simplify]: Simplify (+ 0) into 0
26.950 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
26.950 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
26.951 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.951 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
26.952 * [backup-simplify]: Simplify (+ 0 0) into 0
26.952 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
26.952 * [backup-simplify]: Simplify (+ 0) into 0
26.953 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
26.953 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
26.954 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.954 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
26.955 * [backup-simplify]: Simplify (- 0) into 0
26.955 * [backup-simplify]: Simplify (+ 0 0) into 0
26.955 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
26.956 * [backup-simplify]: Simplify (+ 0) into 0
26.956 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
26.956 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
26.957 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.958 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
26.958 * [backup-simplify]: Simplify (+ 0 0) into 0
26.958 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into 0
26.959 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.960 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)))) into 0
26.961 * [backup-simplify]: Simplify (+ 0) into 0
26.961 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
26.962 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
26.963 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.963 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
26.964 * [backup-simplify]: Simplify (+ 0 0) into 0
26.964 * [backup-simplify]: Simplify (+ 0) into 0
26.965 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
26.965 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
26.965 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.966 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
26.966 * [backup-simplify]: Simplify (- 0) into 0
26.967 * [backup-simplify]: Simplify (+ 0 0) into 0
26.967 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
26.968 * [backup-simplify]: Simplify (+ 0) into 0
26.968 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
26.968 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
26.969 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.970 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
26.970 * [backup-simplify]: Simplify (+ 0 0) into 0
26.970 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
26.971 * [backup-simplify]: Simplify (+ 0) into 0
26.971 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
26.971 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
26.972 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
26.973 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
26.973 * [backup-simplify]: Simplify (- 0) into 0
26.974 * [backup-simplify]: Simplify (+ 0 0) into 0
26.974 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))) into 0
26.981 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
26.983 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)))) into 0
26.984 * [backup-simplify]: Simplify (+ 0 0) into 0
26.984 * [backup-simplify]: Simplify (+ 0 0) into 0
26.984 * [backup-simplify]: Simplify (+ 0 0) into 0
26.985 * [backup-simplify]: Simplify (+ (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) 0) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
26.986 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
26.986 * [backup-simplify]: Simplify (+ 0 (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
26.986 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi2
26.987 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi2
26.987 * [taylor]: Taking taylor expansion of 2 in phi2
26.987 * [backup-simplify]: Simplify 2 into 2
26.987 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi2
26.987 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
26.987 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
26.987 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
26.987 * [taylor]: Taking taylor expansion of -0.5 in phi2
26.987 * [backup-simplify]: Simplify -0.5 into -0.5
26.987 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
26.987 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
26.987 * [taylor]: Taking taylor expansion of phi1 in phi2
26.987 * [backup-simplify]: Simplify phi1 into phi1
26.987 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.987 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
26.987 * [taylor]: Taking taylor expansion of phi2 in phi2
26.987 * [backup-simplify]: Simplify 0 into 0
26.987 * [backup-simplify]: Simplify 1 into 1
26.988 * [backup-simplify]: Simplify (/ 1 1) into 1
26.988 * [backup-simplify]: Simplify (+ 0 1) into 1
26.989 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
26.989 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.989 * [taylor]: Taking taylor expansion of lambda1 in phi2
26.989 * [backup-simplify]: Simplify lambda1 into lambda1
26.989 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.990 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
26.990 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
26.991 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
26.991 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in phi1
26.991 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in phi1
26.991 * [taylor]: Taking taylor expansion of 2 in phi1
26.991 * [backup-simplify]: Simplify 2 into 2
26.991 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in phi1
26.991 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
26.991 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
26.991 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
26.991 * [taylor]: Taking taylor expansion of -0.5 in phi1
26.991 * [backup-simplify]: Simplify -0.5 into -0.5
26.991 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
26.991 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
26.991 * [taylor]: Taking taylor expansion of phi1 in phi1
26.991 * [backup-simplify]: Simplify 0 into 0
26.991 * [backup-simplify]: Simplify 1 into 1
26.992 * [backup-simplify]: Simplify (/ 1 1) into 1
26.992 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
26.992 * [taylor]: Taking taylor expansion of phi2 in phi1
26.992 * [backup-simplify]: Simplify phi2 into phi2
26.992 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.992 * [backup-simplify]: Simplify (+ 1 0) into 1
26.993 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
26.993 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.993 * [taylor]: Taking taylor expansion of lambda1 in phi1
26.993 * [backup-simplify]: Simplify lambda1 into lambda1
26.993 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.994 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) into (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)
26.994 * [backup-simplify]: Simplify (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) into (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))
26.995 * [backup-simplify]: Simplify (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)))
26.995 * [taylor]: Taking taylor expansion of (- (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) in lambda1
26.995 * [taylor]: Taking taylor expansion of (* 2 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1)) in lambda1
26.995 * [taylor]: Taking taylor expansion of 2 in lambda1
26.995 * [backup-simplify]: Simplify 2 into 2
26.995 * [taylor]: Taking taylor expansion of (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) in lambda1
26.995 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in lambda1
26.995 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in lambda1
26.995 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in lambda1
26.995 * [taylor]: Taking taylor expansion of -0.5 in lambda1
26.995 * [backup-simplify]: Simplify -0.5 into -0.5
26.995 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in lambda1
26.995 * [taylor]: Taking taylor expansion of (/ 1 phi1) in lambda1
26.995 * [taylor]: Taking taylor expansion of phi1 in lambda1
26.995 * [backup-simplify]: Simplify phi1 into phi1
26.995 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
26.995 * [taylor]: Taking taylor expansion of (/ 1 phi2) in lambda1
26.995 * [taylor]: Taking taylor expansion of phi2 in lambda1
26.995 * [backup-simplify]: Simplify phi2 into phi2
26.995 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
26.995 * [backup-simplify]: Simplify (+ (/ 1 phi1) (/ 1 phi2)) into (+ (/ 1 phi1) (/ 1 phi2))
26.995 * [backup-simplify]: Simplify (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) into (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))
26.996 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.996 * [backup-simplify]: Simplify (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.996 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 1) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.996 * [backup-simplify]: Simplify (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into 0
26.997 * [backup-simplify]: Simplify (- 0) into 0
26.997 * [backup-simplify]: Simplify (+ (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
26.997 * [taylor]: Taking taylor expansion of lambda1 in lambda1
26.997 * [backup-simplify]: Simplify 0 into 0
26.997 * [backup-simplify]: Simplify 1 into 1
26.997 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.998 * [backup-simplify]: Simplify (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) 1) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
26.998 * [backup-simplify]: Simplify (+ 0) into 0
26.999 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
26.999 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
27.000 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.000 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
27.001 * [backup-simplify]: Simplify (- 0) into 0
27.001 * [backup-simplify]: Simplify (+ 0 0) into 0
27.001 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
27.002 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
27.002 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
27.002 * [backup-simplify]: Simplify (+ 0) into 0
27.003 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
27.003 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
27.004 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.004 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
27.005 * [backup-simplify]: Simplify (+ 0 0) into 0
27.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
27.005 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
27.006 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
27.006 * [backup-simplify]: Simplify (+ 0 0) into 0
27.006 * [backup-simplify]: Simplify (+ 0) into 0
27.007 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
27.007 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
27.008 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.008 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
27.009 * [backup-simplify]: Simplify (+ 0 0) into 0
27.009 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
27.009 * [backup-simplify]: Simplify (+ 0) into 0
27.010 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
27.010 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
27.011 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.011 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
27.012 * [backup-simplify]: Simplify (- 0) into 0
27.012 * [backup-simplify]: Simplify (+ 0 0) into 0
27.012 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into 0
27.013 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
27.013 * [backup-simplify]: Simplify (+ 0) into 0
27.014 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 1)) into 0
27.014 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
27.014 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.015 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 0)) into 0
27.015 * [backup-simplify]: Simplify (- 0) into 0
27.016 * [backup-simplify]: Simplify (+ 0 0) into 0
27.016 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
27.016 * [backup-simplify]: Simplify (+ 0) into 0
27.017 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 1)) into 0
27.017 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)))) into 0
27.018 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.018 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 0)) into 0
27.018 * [backup-simplify]: Simplify (+ 0 0) into 0
27.019 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into 0
27.019 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
27.019 * [backup-simplify]: Simplify (+ 0 0) into 0
27.020 * [backup-simplify]: Simplify (- 0) into 0
27.020 * [backup-simplify]: Simplify (+ 0 0) into 0
27.020 * [taylor]: Taking taylor expansion of 0 in phi1
27.020 * [backup-simplify]: Simplify 0 into 0
27.020 * [taylor]: Taking taylor expansion of 0 in lambda1
27.020 * [backup-simplify]: Simplify 0 into 0
27.021 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi1)))) into 0
27.021 * [backup-simplify]: Simplify (+ 0) into 0
27.022 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
27.022 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
27.022 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.023 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
27.023 * [backup-simplify]: Simplify (- 0) into 0
27.024 * [backup-simplify]: Simplify (+ 0 0) into 0
27.024 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
27.024 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (* 0 (pow (cos (/ -0.5 phi1)) 2))) into 0
27.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi1)))) into 0
27.025 * [backup-simplify]: Simplify (+ 0) into 0
27.025 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
27.026 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
27.026 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.027 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
27.027 * [backup-simplify]: Simplify (+ 0 0) into 0
27.028 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
27.028 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (* 0 (pow (sin (/ -0.5 phi1)) 2))) into 0
27.029 * [backup-simplify]: Simplify (+ 0 0) into 0
27.029 * [backup-simplify]: Simplify (+ 0) into 0
27.030 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
27.030 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
27.031 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.031 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
27.031 * [backup-simplify]: Simplify (- 0) into 0
27.032 * [backup-simplify]: Simplify (+ 0 0) into 0
27.032 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (cos (/ -0.5 phi2)))) into 0
27.032 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into 0
27.033 * [backup-simplify]: Simplify (+ 0) into 0
27.033 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
27.033 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
27.034 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.034 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
27.035 * [backup-simplify]: Simplify (+ 0 0) into 0
27.035 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))))) into 0
27.036 * [backup-simplify]: Simplify (+ 0) into 0
27.036 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 1)) into 0
27.036 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
27.037 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.037 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 0)) into 0
27.038 * [backup-simplify]: Simplify (+ 0 0) into 0
27.038 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (* 0 (sin (/ -0.5 phi2)))) into 0
27.038 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))) into 0
27.039 * [backup-simplify]: Simplify (+ 0) into 0
27.039 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 1)) into 0
27.040 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)))) into 0
27.040 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.041 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (* 0 0)) into 0
27.041 * [backup-simplify]: Simplify (- 0) into 0
27.042 * [backup-simplify]: Simplify (+ 0 0) into 0
27.042 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))))) into 0
27.042 * [backup-simplify]: Simplify (+ 0 0) into 0
27.043 * [backup-simplify]: Simplify (- 0) into 0
27.043 * [backup-simplify]: Simplify (+ 0 0) into 0
27.043 * [taylor]: Taking taylor expansion of 0 in lambda1
27.043 * [backup-simplify]: Simplify 0 into 0
27.044 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.045 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.045 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.046 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.047 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.047 * [backup-simplify]: Simplify (- 0) into 0
27.047 * [backup-simplify]: Simplify (+ 0 0) into 0
27.048 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
27.049 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.050 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.050 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.051 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.051 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.052 * [backup-simplify]: Simplify (- 0) into 0
27.052 * [backup-simplify]: Simplify (+ 0 0) into 0
27.053 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
27.053 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
27.054 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.056 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
27.057 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.058 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.058 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.059 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.059 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.060 * [backup-simplify]: Simplify (+ 0 0) into 0
27.061 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
27.062 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.063 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.063 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.064 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.064 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.065 * [backup-simplify]: Simplify (+ 0 0) into 0
27.066 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
27.066 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
27.067 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.069 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (/ 0 1)) (* 0 (/ 0 1)))) into 0
27.070 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) 0) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
27.070 * [backup-simplify]: Simplify (+ 0 (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
27.072 * [backup-simplify]: Simplify (+ (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))
27.072 * [backup-simplify]: Simplify (+ 0) into 0
27.073 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 1)) into 0
27.073 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi1) (/ 0 phi1)))) into 0
27.073 * [backup-simplify]: Simplify (- (+ (* (/ 1 phi2) (/ 0 phi2)))) into 0
27.073 * [backup-simplify]: Simplify (+ 0 0) into 0
27.074 * [backup-simplify]: Simplify (+ (* -0.5 0) (* 0 (+ (/ 1 phi1) (/ 1 phi2)))) into 0
27.075 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0 1) 1))) into 0
27.075 * [backup-simplify]: Simplify (+ (* (sin (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 0)) into 0
27.076 * [backup-simplify]: Simplify (- 0) into 0
27.076 * [backup-simplify]: Simplify (+ 0 0) into 0
27.076 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
27.077 * [backup-simplify]: Simplify (+ (* 0 0) (+ (* 1 0) (* 0 lambda1))) into 0
27.078 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
27.078 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
27.079 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.080 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.080 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.081 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.082 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.082 * [backup-simplify]: Simplify (- 0) into 0
27.082 * [backup-simplify]: Simplify (+ 0 0) into 0
27.083 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.084 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.084 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.085 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.085 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.085 * [backup-simplify]: Simplify (+ 0 0) into 0
27.086 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
27.086 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.086 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.087 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.087 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.087 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.088 * [backup-simplify]: Simplify (- 0) into 0
27.088 * [backup-simplify]: Simplify (+ 0 0) into 0
27.088 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
27.089 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.089 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.090 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.090 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.090 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.091 * [backup-simplify]: Simplify (+ 0 0) into 0
27.091 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))) into 0
27.092 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.093 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
27.093 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.094 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.094 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.094 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.095 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.095 * [backup-simplify]: Simplify (+ 0 0) into 0
27.095 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.096 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.096 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.096 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.097 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.097 * [backup-simplify]: Simplify (- 0) into 0
27.097 * [backup-simplify]: Simplify (+ 0 0) into 0
27.098 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
27.098 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.098 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.099 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.099 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.099 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.100 * [backup-simplify]: Simplify (+ 0 0) into 0
27.100 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
27.101 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.101 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.101 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.102 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.102 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.102 * [backup-simplify]: Simplify (- 0) into 0
27.102 * [backup-simplify]: Simplify (+ 0 0) into 0
27.103 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))))) into 0
27.103 * [backup-simplify]: Simplify (+ (* 1 0) (+ (* 0 0) (* 0 1))) into 0
27.104 * [backup-simplify]: Simplify (- (/ 0 1) (+ (* (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (/ 0 1)) (* 0 (/ 0 1)))) into 0
27.105 * [backup-simplify]: Simplify (+ 0 (/ (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (pow lambda1 2))) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))
27.106 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))
27.106 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))
27.107 * [backup-simplify]: Simplify (+ 0 (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))
27.108 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))) into (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2))))
27.110 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))))
27.110 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)))) in phi2
27.110 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) in phi2
27.110 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2
27.110 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi2
27.110 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi2
27.110 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
27.110 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
27.110 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.110 * [backup-simplify]: Simplify -0.5 into -0.5
27.110 * [taylor]: Taking taylor expansion of phi2 in phi2
27.110 * [backup-simplify]: Simplify 0 into 0
27.110 * [backup-simplify]: Simplify 1 into 1
27.110 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.110 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.111 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi2
27.111 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
27.111 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
27.111 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.111 * [backup-simplify]: Simplify -0.5 into -0.5
27.111 * [taylor]: Taking taylor expansion of phi1 in phi2
27.111 * [backup-simplify]: Simplify phi1 into phi1
27.111 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.111 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.111 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.111 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
27.111 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
27.111 * [backup-simplify]: Simplify (- 0) into 0
27.111 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
27.111 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
27.111 * [taylor]: Taking taylor expansion of lambda1 in phi2
27.111 * [backup-simplify]: Simplify lambda1 into lambda1
27.111 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
27.112 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
27.112 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
27.112 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
27.112 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
27.112 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi2
27.112 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi2
27.112 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi2
27.112 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
27.112 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
27.112 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.112 * [backup-simplify]: Simplify -0.5 into -0.5
27.112 * [taylor]: Taking taylor expansion of phi2 in phi2
27.112 * [backup-simplify]: Simplify 0 into 0
27.112 * [backup-simplify]: Simplify 1 into 1
27.113 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.113 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi2
27.113 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
27.113 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
27.113 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.113 * [backup-simplify]: Simplify -0.5 into -0.5
27.113 * [taylor]: Taking taylor expansion of phi1 in phi2
27.113 * [backup-simplify]: Simplify phi1 into phi1
27.113 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.113 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.113 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
27.113 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
27.113 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
27.113 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
27.113 * [taylor]: Taking taylor expansion of lambda1 in phi2
27.113 * [backup-simplify]: Simplify lambda1 into lambda1
27.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
27.113 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
27.114 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
27.114 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
27.114 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
27.114 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))) in phi2
27.114 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi2
27.114 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi2
27.114 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
27.114 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
27.114 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.114 * [backup-simplify]: Simplify -0.5 into -0.5
27.114 * [taylor]: Taking taylor expansion of phi2 in phi2
27.114 * [backup-simplify]: Simplify 0 into 0
27.114 * [backup-simplify]: Simplify 1 into 1
27.114 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.114 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.115 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi2
27.115 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
27.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
27.115 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.115 * [backup-simplify]: Simplify -0.5 into -0.5
27.115 * [taylor]: Taking taylor expansion of phi1 in phi2
27.115 * [backup-simplify]: Simplify phi1 into phi1
27.115 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.115 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi2
27.115 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
27.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
27.115 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.115 * [backup-simplify]: Simplify -0.5 into -0.5
27.115 * [taylor]: Taking taylor expansion of phi2 in phi2
27.115 * [backup-simplify]: Simplify 0 into 0
27.115 * [backup-simplify]: Simplify 1 into 1
27.115 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.115 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.115 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
27.115 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
27.115 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.115 * [backup-simplify]: Simplify -0.5 into -0.5
27.115 * [taylor]: Taking taylor expansion of phi1 in phi2
27.115 * [backup-simplify]: Simplify phi1 into phi1
27.115 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.115 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.116 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.116 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
27.116 * [taylor]: Taking taylor expansion of lambda1 in phi2
27.116 * [backup-simplify]: Simplify lambda1 into lambda1
27.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
27.116 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
27.116 * [backup-simplify]: Simplify (- 0) into 0
27.116 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
27.116 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
27.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
27.116 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
27.116 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
27.117 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
27.117 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
27.117 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
27.118 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
27.118 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi2
27.118 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi2
27.118 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi2
27.118 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
27.118 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.118 * [backup-simplify]: Simplify -0.5 into -0.5
27.118 * [taylor]: Taking taylor expansion of phi1 in phi2
27.118 * [backup-simplify]: Simplify phi1 into phi1
27.118 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.118 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.118 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.118 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi2
27.118 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi2
27.118 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi2
27.118 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.118 * [backup-simplify]: Simplify -0.5 into -0.5
27.118 * [taylor]: Taking taylor expansion of phi1 in phi2
27.118 * [backup-simplify]: Simplify phi1 into phi1
27.119 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.119 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.119 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.119 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi2
27.119 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi2
27.119 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
27.119 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.119 * [backup-simplify]: Simplify -0.5 into -0.5
27.119 * [taylor]: Taking taylor expansion of phi2 in phi2
27.119 * [backup-simplify]: Simplify 0 into 0
27.119 * [backup-simplify]: Simplify 1 into 1
27.127 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.127 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.127 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi2
27.127 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi2
27.127 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.127 * [backup-simplify]: Simplify -0.5 into -0.5
27.127 * [taylor]: Taking taylor expansion of phi2 in phi2
27.127 * [backup-simplify]: Simplify 0 into 0
27.127 * [backup-simplify]: Simplify 1 into 1
27.128 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.128 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.128 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi2
27.128 * [taylor]: Taking taylor expansion of lambda1 in phi2
27.128 * [backup-simplify]: Simplify lambda1 into lambda1
27.128 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
27.128 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
27.129 * [backup-simplify]: Simplify (- 0) into 0
27.129 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
27.129 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
27.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
27.129 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
27.129 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))
27.130 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
27.130 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
27.130 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
27.131 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))
27.132 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))
27.133 * [backup-simplify]: Simplify (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))
27.135 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))) into (- (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2))))
27.138 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (- (+ (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))))
27.138 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)))) in phi1
27.138 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) in phi1
27.138 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1
27.138 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in phi1
27.138 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in phi1
27.138 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
27.138 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
27.138 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.138 * [backup-simplify]: Simplify -0.5 into -0.5
27.138 * [taylor]: Taking taylor expansion of phi2 in phi1
27.138 * [backup-simplify]: Simplify phi2 into phi2
27.138 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.138 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.138 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.139 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
27.139 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
27.139 * [backup-simplify]: Simplify (- 0) into 0
27.139 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
27.139 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in phi1
27.139 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
27.140 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
27.140 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.140 * [backup-simplify]: Simplify -0.5 into -0.5
27.140 * [taylor]: Taking taylor expansion of phi1 in phi1
27.140 * [backup-simplify]: Simplify 0 into 0
27.140 * [backup-simplify]: Simplify 1 into 1
27.140 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.140 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.140 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
27.140 * [taylor]: Taking taylor expansion of lambda1 in phi1
27.140 * [backup-simplify]: Simplify lambda1 into lambda1
27.140 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
27.141 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
27.141 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
27.141 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
27.142 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2))
27.142 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in phi1
27.142 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in phi1
27.142 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in phi1
27.142 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
27.142 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
27.142 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.142 * [backup-simplify]: Simplify -0.5 into -0.5
27.142 * [taylor]: Taking taylor expansion of phi2 in phi1
27.142 * [backup-simplify]: Simplify phi2 into phi2
27.142 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.142 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.142 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.142 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
27.142 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
27.142 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
27.142 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in phi1
27.143 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
27.143 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
27.143 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.143 * [backup-simplify]: Simplify -0.5 into -0.5
27.143 * [taylor]: Taking taylor expansion of phi1 in phi1
27.143 * [backup-simplify]: Simplify 0 into 0
27.143 * [backup-simplify]: Simplify 1 into 1
27.143 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.143 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.143 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
27.143 * [taylor]: Taking taylor expansion of lambda1 in phi1
27.143 * [backup-simplify]: Simplify lambda1 into lambda1
27.144 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
27.144 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
27.144 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
27.144 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
27.145 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) into (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))
27.145 * [taylor]: Taking taylor expansion of (+ (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))) in phi1
27.145 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in phi1
27.145 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in phi1
27.145 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
27.145 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
27.145 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.145 * [backup-simplify]: Simplify -0.5 into -0.5
27.145 * [taylor]: Taking taylor expansion of phi1 in phi1
27.145 * [backup-simplify]: Simplify 0 into 0
27.145 * [backup-simplify]: Simplify 1 into 1
27.145 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.146 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.146 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in phi1
27.146 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
27.146 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
27.146 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.146 * [backup-simplify]: Simplify -0.5 into -0.5
27.146 * [taylor]: Taking taylor expansion of phi2 in phi1
27.146 * [backup-simplify]: Simplify phi2 into phi2
27.146 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.146 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.146 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.146 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in phi1
27.146 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
27.146 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
27.146 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.146 * [backup-simplify]: Simplify -0.5 into -0.5
27.146 * [taylor]: Taking taylor expansion of phi2 in phi1
27.146 * [backup-simplify]: Simplify phi2 into phi2
27.146 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.146 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.146 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.146 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
27.146 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
27.147 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.147 * [backup-simplify]: Simplify -0.5 into -0.5
27.147 * [taylor]: Taking taylor expansion of phi1 in phi1
27.147 * [backup-simplify]: Simplify 0 into 0
27.147 * [backup-simplify]: Simplify 1 into 1
27.147 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.147 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.147 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
27.147 * [taylor]: Taking taylor expansion of lambda1 in phi1
27.147 * [backup-simplify]: Simplify lambda1 into lambda1
27.147 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
27.147 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
27.148 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
27.148 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
27.148 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
27.148 * [backup-simplify]: Simplify (- 0) into 0
27.148 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
27.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
27.149 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))
27.149 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2)))))
27.149 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
27.150 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2))
27.150 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in phi1
27.150 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in phi1
27.150 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in phi1
27.150 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
27.150 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.150 * [backup-simplify]: Simplify -0.5 into -0.5
27.150 * [taylor]: Taking taylor expansion of phi1 in phi1
27.150 * [backup-simplify]: Simplify 0 into 0
27.150 * [backup-simplify]: Simplify 1 into 1
27.150 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.151 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.151 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in phi1
27.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in phi1
27.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in phi1
27.151 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.151 * [backup-simplify]: Simplify -0.5 into -0.5
27.151 * [taylor]: Taking taylor expansion of phi1 in phi1
27.151 * [backup-simplify]: Simplify 0 into 0
27.151 * [backup-simplify]: Simplify 1 into 1
27.151 * [backup-simplify]: Simplify (/ -0.5 1) into -0.5
27.151 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.151 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in phi1
27.151 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in phi1
27.151 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
27.151 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.152 * [backup-simplify]: Simplify -0.5 into -0.5
27.152 * [taylor]: Taking taylor expansion of phi2 in phi1
27.152 * [backup-simplify]: Simplify phi2 into phi2
27.152 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.152 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.152 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in phi1
27.152 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in phi1
27.152 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.152 * [backup-simplify]: Simplify -0.5 into -0.5
27.152 * [taylor]: Taking taylor expansion of phi2 in phi1
27.152 * [backup-simplify]: Simplify phi2 into phi2
27.152 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.152 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.152 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.152 * [taylor]: Taking taylor expansion of (pow lambda1 2) in phi1
27.152 * [taylor]: Taking taylor expansion of lambda1 in phi1
27.152 * [backup-simplify]: Simplify lambda1 into lambda1
27.152 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
27.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
27.153 * [backup-simplify]: Simplify (- 0) into 0
27.153 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
27.153 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
27.153 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
27.153 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
27.154 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))
27.154 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
27.154 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
27.154 * [backup-simplify]: Simplify (* lambda1 lambda1) into (pow lambda1 2)
27.155 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) into (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))
27.156 * [backup-simplify]: Simplify (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) into (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)))
27.157 * [backup-simplify]: Simplify (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))) into (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))
27.159 * [backup-simplify]: Simplify (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2)))) into (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2))))
27.162 * [backup-simplify]: Simplify (+ (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (- (+ (/ (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) (pow lambda1 2)) (/ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi2))))) (pow lambda1 2))))) into (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))))
27.162 * [taylor]: Taking taylor expansion of (- (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)))) in lambda1
27.162 * [taylor]: Taking taylor expansion of (+ (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2))) in lambda1
27.162 * [taylor]: Taking taylor expansion of (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1
27.162 * [taylor]: Taking taylor expansion of (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) in lambda1
27.162 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi2)) 2) in lambda1
27.162 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
27.162 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
27.162 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.163 * [backup-simplify]: Simplify -0.5 into -0.5
27.163 * [taylor]: Taking taylor expansion of phi2 in lambda1
27.163 * [backup-simplify]: Simplify phi2 into phi2
27.163 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.163 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.163 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.163 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
27.163 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
27.164 * [backup-simplify]: Simplify (- 0) into 0
27.164 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
27.164 * [taylor]: Taking taylor expansion of (pow (cos (/ -0.5 phi1)) 2) in lambda1
27.164 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
27.164 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
27.164 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.164 * [backup-simplify]: Simplify -0.5 into -0.5
27.164 * [taylor]: Taking taylor expansion of phi1 in lambda1
27.164 * [backup-simplify]: Simplify phi1 into phi1
27.164 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.164 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.164 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.164 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
27.165 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
27.165 * [backup-simplify]: Simplify (- 0) into 0
27.165 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
27.165 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
27.165 * [taylor]: Taking taylor expansion of lambda1 in lambda1
27.165 * [backup-simplify]: Simplify 0 into 0
27.165 * [backup-simplify]: Simplify 1 into 1
27.165 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
27.166 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
27.166 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
27.166 * [backup-simplify]: Simplify (* 1 1) into 1
27.167 * [backup-simplify]: Simplify (/ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) 1) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
27.167 * [taylor]: Taking taylor expansion of (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) (pow lambda1 2)) in lambda1
27.167 * [taylor]: Taking taylor expansion of (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) in lambda1
27.167 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi2)) 2) in lambda1
27.167 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
27.167 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
27.167 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.167 * [backup-simplify]: Simplify -0.5 into -0.5
27.167 * [taylor]: Taking taylor expansion of phi2 in lambda1
27.167 * [backup-simplify]: Simplify phi2 into phi2
27.167 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.167 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.167 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
27.168 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
27.168 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
27.168 * [taylor]: Taking taylor expansion of (pow (sin (/ -0.5 phi1)) 2) in lambda1
27.168 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
27.168 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
27.168 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.168 * [backup-simplify]: Simplify -0.5 into -0.5
27.168 * [taylor]: Taking taylor expansion of phi1 in lambda1
27.168 * [backup-simplify]: Simplify phi1 into phi1
27.168 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.168 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.168 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.168 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
27.169 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
27.169 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
27.169 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
27.169 * [taylor]: Taking taylor expansion of lambda1 in lambda1
27.169 * [backup-simplify]: Simplify 0 into 0
27.169 * [backup-simplify]: Simplify 1 into 1
27.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
27.169 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
27.170 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
27.170 * [backup-simplify]: Simplify (* 1 1) into 1
27.170 * [backup-simplify]: Simplify (/ (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) 1) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
27.170 * [taylor]: Taking taylor expansion of (+ (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2))) in lambda1
27.171 * [taylor]: Taking taylor expansion of (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (pow lambda1 2)) in lambda1
27.171 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) in lambda1
27.171 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
27.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
27.171 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.171 * [backup-simplify]: Simplify -0.5 into -0.5
27.171 * [taylor]: Taking taylor expansion of phi2 in lambda1
27.171 * [backup-simplify]: Simplify phi2 into phi2
27.171 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.171 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.171 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) in lambda1
27.171 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
27.171 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
27.171 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.171 * [backup-simplify]: Simplify -0.5 into -0.5
27.171 * [taylor]: Taking taylor expansion of phi1 in lambda1
27.171 * [backup-simplify]: Simplify phi1 into phi1
27.171 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.171 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.172 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) in lambda1
27.172 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
27.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
27.172 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.172 * [backup-simplify]: Simplify -0.5 into -0.5
27.172 * [taylor]: Taking taylor expansion of phi2 in lambda1
27.172 * [backup-simplify]: Simplify phi2 into phi2
27.172 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.172 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.172 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
27.172 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
27.172 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.172 * [backup-simplify]: Simplify -0.5 into -0.5
27.172 * [taylor]: Taking taylor expansion of phi1 in lambda1
27.172 * [backup-simplify]: Simplify phi1 into phi1
27.172 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.172 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.172 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.172 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
27.173 * [taylor]: Taking taylor expansion of lambda1 in lambda1
27.173 * [backup-simplify]: Simplify 0 into 0
27.173 * [backup-simplify]: Simplify 1 into 1
27.173 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
27.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
27.173 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
27.173 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
27.173 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
27.174 * [backup-simplify]: Simplify (- 0) into 0
27.174 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
27.174 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
27.174 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
27.174 * [backup-simplify]: Simplify (- 0) into 0
27.174 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
27.175 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
27.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
27.175 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
27.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))
27.175 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
27.176 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
27.176 * [backup-simplify]: Simplify (* 1 1) into 1
27.177 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 1) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
27.177 * [taylor]: Taking taylor expansion of (/ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (pow lambda1 2)) in lambda1
27.177 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) in lambda1
27.177 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi1)) in lambda1
27.177 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
27.177 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.177 * [backup-simplify]: Simplify -0.5 into -0.5
27.177 * [taylor]: Taking taylor expansion of phi1 in lambda1
27.177 * [backup-simplify]: Simplify phi1 into phi1
27.177 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.177 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.177 * [taylor]: Taking taylor expansion of (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) in lambda1
27.177 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi1)) in lambda1
27.177 * [taylor]: Taking taylor expansion of (/ -0.5 phi1) in lambda1
27.177 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.177 * [backup-simplify]: Simplify -0.5 into -0.5
27.177 * [taylor]: Taking taylor expansion of phi1 in lambda1
27.177 * [backup-simplify]: Simplify phi1 into phi1
27.177 * [backup-simplify]: Simplify (/ -0.5 phi1) into (/ -0.5 phi1)
27.177 * [backup-simplify]: Simplify (sin (/ -0.5 phi1)) into (sin (/ -0.5 phi1))
27.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi1)) into (cos (/ -0.5 phi1))
27.178 * [taylor]: Taking taylor expansion of (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) in lambda1
27.178 * [taylor]: Taking taylor expansion of (cos (/ -0.5 phi2)) in lambda1
27.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
27.178 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.178 * [backup-simplify]: Simplify -0.5 into -0.5
27.178 * [taylor]: Taking taylor expansion of phi2 in lambda1
27.178 * [backup-simplify]: Simplify phi2 into phi2
27.178 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.178 * [taylor]: Taking taylor expansion of (sin (/ -0.5 phi2)) in lambda1
27.178 * [taylor]: Taking taylor expansion of (/ -0.5 phi2) in lambda1
27.178 * [taylor]: Taking taylor expansion of -0.5 in lambda1
27.178 * [backup-simplify]: Simplify -0.5 into -0.5
27.178 * [taylor]: Taking taylor expansion of phi2 in lambda1
27.178 * [backup-simplify]: Simplify phi2 into phi2
27.178 * [backup-simplify]: Simplify (/ -0.5 phi2) into (/ -0.5 phi2)
27.178 * [backup-simplify]: Simplify (sin (/ -0.5 phi2)) into (sin (/ -0.5 phi2))
27.178 * [backup-simplify]: Simplify (cos (/ -0.5 phi2)) into (cos (/ -0.5 phi2))
27.179 * [taylor]: Taking taylor expansion of (pow lambda1 2) in lambda1
27.179 * [taylor]: Taking taylor expansion of lambda1 in lambda1
27.179 * [backup-simplify]: Simplify 0 into 0
27.179 * [backup-simplify]: Simplify 1 into 1
27.179 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
27.179 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
27.179 * [backup-simplify]: Simplify (- 0) into 0
27.179 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
27.180 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
27.180 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
27.180 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
27.180 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
27.180 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
27.180 * [backup-simplify]: Simplify (- 0) into 0
27.181 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
27.181 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
27.181 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
27.181 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
27.181 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))
27.181 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))) into (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))
27.182 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) into (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))
27.182 * [backup-simplify]: Simplify (* 1 1) into 1
27.183 * [backup-simplify]: Simplify (/ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi2))))) 1) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))
27.184 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
27.184 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))
27.185 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))))) into (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))
27.188 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))))
27.190 * [backup-simplify]: Simplify (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2))))) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi2)))))))
27.191 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
27.191 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
27.192 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
27.193 * [backup-simplify]: Simplify (- 0) into 0
27.193 * [taylor]: Taking taylor expansion of 0 in phi1
27.193 * [backup-simplify]: Simplify 0 into 0
27.193 * [taylor]: Taking taylor expansion of 0 in lambda1
27.193 * [backup-simplify]: Simplify 0 into 0
27.194 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.195 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.195 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.196 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.196 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.197 * [backup-simplify]: Simplify (- 0) into 0
27.197 * [backup-simplify]: Simplify (+ 0 0) into 0
27.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
27.198 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
27.199 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
27.200 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.201 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.201 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.202 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.202 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.203 * [backup-simplify]: Simplify (+ 0 0) into 0
27.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
27.204 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
27.205 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
27.205 * [backup-simplify]: Simplify (+ 0 0) into 0
27.206 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.207 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.207 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.208 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.209 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.209 * [backup-simplify]: Simplify (+ 0 0) into 0
27.210 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
27.211 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.211 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.212 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.213 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.213 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.214 * [backup-simplify]: Simplify (- 0) into 0
27.214 * [backup-simplify]: Simplify (+ 0 0) into 0
27.215 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into 0
27.215 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2))))))) into 0
27.216 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.217 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.217 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.218 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.219 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.219 * [backup-simplify]: Simplify (- 0) into 0
27.220 * [backup-simplify]: Simplify (+ 0 0) into 0
27.220 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
27.221 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.222 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 1))) into 0
27.222 * [backup-simplify]: Simplify (- (/ 0 phi1) (+ (* (/ -0.5 phi1) (/ 0 phi1)) (* 0 (/ 0 phi1)))) into 0
27.223 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.223 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 0))) into 0
27.224 * [backup-simplify]: Simplify (+ 0 0) into 0
27.225 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))) into 0
27.225 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2))))))) into 0
27.226 * [backup-simplify]: Simplify (+ 0 0) into 0
27.226 * [backup-simplify]: Simplify (- 0) into 0
27.227 * [backup-simplify]: Simplify (+ 0 0) into 0
27.227 * [taylor]: Taking taylor expansion of 0 in phi1
27.227 * [backup-simplify]: Simplify 0 into 0
27.227 * [taylor]: Taking taylor expansion of 0 in lambda1
27.227 * [backup-simplify]: Simplify 0 into 0
27.227 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
27.228 * [backup-simplify]: Simplify (- (/ 0 lambda1) (+ (* (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1) (/ 0 lambda1)))) into 0
27.229 * [backup-simplify]: Simplify (+ (* 2 0) (* 0 (/ (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) lambda1))) into 0
27.229 * [backup-simplify]: Simplify (- 0) into 0
27.229 * [taylor]: Taking taylor expansion of 0 in lambda1
27.229 * [backup-simplify]: Simplify 0 into 0
27.229 * [taylor]: Taking taylor expansion of 0 in lambda1
27.229 * [backup-simplify]: Simplify 0 into 0
27.230 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi1))))) into 0
27.231 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.231 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.232 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.232 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.233 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.233 * [backup-simplify]: Simplify (- 0) into 0
27.233 * [backup-simplify]: Simplify (+ 0 0) into 0
27.234 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
27.234 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (cos (/ -0.5 phi1)) 2)))) into 0
27.234 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi1))))) into 0
27.235 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.235 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.236 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.236 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.236 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.237 * [backup-simplify]: Simplify (+ 0 0) into 0
27.237 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
27.237 * [backup-simplify]: Simplify (+ (* (pow (sin (/ -0.5 phi2)) 2) 0) (+ (* 0 0) (* 0 (pow (sin (/ -0.5 phi1)) 2)))) into 0
27.238 * [backup-simplify]: Simplify (+ 0 0) into 0
27.238 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.239 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.239 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.240 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.240 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.240 * [backup-simplify]: Simplify (- 0) into 0
27.240 * [backup-simplify]: Simplify (+ 0 0) into 0
27.241 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (cos (/ -0.5 phi2))))) into 0
27.241 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi2)))))) into 0
27.242 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.242 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.242 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.243 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.243 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.243 * [backup-simplify]: Simplify (+ 0 0) into 0
27.244 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))))))) into 0
27.244 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.245 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.245 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.245 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.246 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.246 * [backup-simplify]: Simplify (+ 0 0) into 0
27.246 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (sin (/ -0.5 phi2))))) into 0
27.247 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi1)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi2)))))) into 0
27.247 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0 2) 2)) 0) into 0
27.248 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 1))) into 0
27.248 * [backup-simplify]: Simplify (- (/ 0 phi2) (+ (* (/ -0.5 phi2) (/ 0 phi2)) (* 0 (/ 0 phi2)))) into 0
27.248 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.249 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 0))) into 0
27.249 * [backup-simplify]: Simplify (- 0) into 0
27.249 * [backup-simplify]: Simplify (+ 0 0) into 0
27.250 * [backup-simplify]: Simplify (+ (* (cos (/ -0.5 phi2)) 0) (+ (* 0 0) (* 0 (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))))))) into 0
27.250 * [backup-simplify]: Simplify (+ 0 0) into 0
27.250 * [backup-simplify]: Simplify (- 0) into 0
27.251 * [backup-simplify]: Simplify (+ 0 0) into 0
27.251 * [taylor]: Taking taylor expansion of 0 in lambda1
27.251 * [backup-simplify]: Simplify 0 into 0
27.251 * [backup-simplify]: Simplify (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)) into (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))
27.251 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
27.252 * [backup-simplify]: Simplify (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2))) into (- (* 2 (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)))
27.252 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (cos (/ -0.5 phi2))) into (pow (cos (/ -0.5 phi2)) 2)
27.252 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (pow (cos (/ -0.5 phi1)) 2)
27.252 * [backup-simplify]: Simplify (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) into (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2))
27.252 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (sin (/ -0.5 phi2))) into (pow (sin (/ -0.5 phi2)) 2)
27.252 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (pow (sin (/ -0.5 phi1)) 2)
27.252 * [backup-simplify]: Simplify (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)) into (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))
27.253 * [backup-simplify]: Simplify (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) into (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2)))
27.253 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
27.253 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
27.253 * [backup-simplify]: Simplify (- 0) into 0
27.253 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
27.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
27.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
27.254 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
27.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
27.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
27.254 * [backup-simplify]: Simplify (- 0) into 0
27.254 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
27.254 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
27.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
27.254 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
27.254 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1))) into (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))
27.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (sin (/ -0.5 phi1)))) into (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))
27.255 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) into (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))
27.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 1) into (sin (/ -0.5 phi2))
27.255 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 0) into 0
27.255 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi2)) 0) into (sin (/ -0.5 phi2))
27.255 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) 1) into (cos (/ -0.5 phi2))
27.255 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) 0) into 0
27.255 * [backup-simplify]: Simplify (- 0) into 0
27.255 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi2)) 0) into (cos (/ -0.5 phi2))
27.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 1) into (sin (/ -0.5 phi1))
27.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 0) into 0
27.256 * [backup-simplify]: Simplify (+ (sin (/ -0.5 phi1)) 0) into (sin (/ -0.5 phi1))
27.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi1)) 1) into (cos (/ -0.5 phi1))
27.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) 0) into 0
27.256 * [backup-simplify]: Simplify (- 0) into 0
27.256 * [backup-simplify]: Simplify (+ (cos (/ -0.5 phi1)) 0) into (cos (/ -0.5 phi1))
27.256 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1))) into (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))
27.256 * [backup-simplify]: Simplify (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (cos (/ -0.5 phi1)))) into (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))
27.257 * [backup-simplify]: Simplify (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) into (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))
27.257 * [backup-simplify]: Simplify (+ (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))) (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1)))))) into (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))
27.257 * [backup-simplify]: Simplify (- (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
27.259 * [backup-simplify]: Simplify (+ (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (- (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
27.260 * [backup-simplify]: Simplify (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1))))))) into (- (+ (* (pow (cos (/ -0.5 phi2)) 2) (pow (cos (/ -0.5 phi1)) 2)) (* (pow (sin (/ -0.5 phi2)) 2) (pow (sin (/ -0.5 phi1)) 2))) (+ (* (cos (/ -0.5 phi1)) (* (sin (/ -0.5 phi2)) (* (cos (/ -0.5 phi2)) (sin (/ -0.5 phi1))))) (* (sin (/ -0.5 phi1)) (* (cos (/ -0.5 phi2)) (* (sin (/ -0.5 phi2)) (cos (/ -0.5 phi1)))))))
27.265 * [backup-simplify]: Simplify (+ (* (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (cos (/ -0.5 (/ 1 (- phi1))))))))) (pow (* 1 (* 1 (* 1 (/ 1 (/ 1 (- lambda2)))))) 2)) (+ (* (- (* 2 (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2))) (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 (/ 1 (/ 1 (- lambda2))))))) (* (- (+ (* (pow (cos (/ -0.5 (/ 1 (- phi2)))) 2) (pow (cos (/ -0.5 (/ 1 (- phi1)))) 2)) (* (pow (sin (/ -0.5 (/ 1 (- phi2)))) 2) (pow (sin (/ -0.5 (/ 1 (- phi1)))) 2))) (+ (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (sin (/ -0.5 (/ 1 (- phi2)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi1))))))) (* (sin (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi1)))) (* (cos (/ -0.5 (/ 1 (- phi2)))) (sin (/ -0.5 (/ 1 (- phi2))))))))) (pow (* (/ 1 (/ 1 (- lambda1))) (* 1 (* 1 1))) 2)))) into (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))))))
27.265 * * * * [progress]: [ 4 / 4 ] generating series at (2 2 1 1 2 2 2 1)
27.265 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ phi2 phi1))) 2) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
27.265 * [approximate]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in (phi2 phi1) around 0
27.265 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi1
27.265 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi1
27.265 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi1
27.265 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.266 * [backup-simplify]: Simplify 0.5 into 0.5
27.266 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi1
27.266 * [taylor]: Taking taylor expansion of phi2 in phi1
27.266 * [backup-simplify]: Simplify phi2 into phi2
27.266 * [taylor]: Taking taylor expansion of phi1 in phi1
27.266 * [backup-simplify]: Simplify 0 into 0
27.266 * [backup-simplify]: Simplify 1 into 1
27.266 * [backup-simplify]: Simplify (+ phi2 0) into phi2
27.266 * [backup-simplify]: Simplify (* 0.5 phi2) into (* 0.5 phi2)
27.266 * [backup-simplify]: Simplify (cos (* 0.5 phi2)) into (cos (* 0.5 phi2))
27.266 * [backup-simplify]: Simplify (sin (* 0.5 phi2)) into (sin (* 0.5 phi2))
27.266 * [backup-simplify]: Simplify (* (cos (* 0.5 phi2)) 1) into (cos (* 0.5 phi2))
27.266 * [backup-simplify]: Simplify (* (sin (* 0.5 phi2)) 0) into 0
27.267 * [backup-simplify]: Simplify (- 0) into 0
27.267 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi2)) 0) into (cos (* 0.5 phi2))
27.267 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
27.267 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
27.267 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
27.267 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.267 * [backup-simplify]: Simplify 0.5 into 0.5
27.267 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
27.267 * [taylor]: Taking taylor expansion of phi2 in phi2
27.267 * [backup-simplify]: Simplify 0 into 0
27.267 * [backup-simplify]: Simplify 1 into 1
27.267 * [taylor]: Taking taylor expansion of phi1 in phi2
27.267 * [backup-simplify]: Simplify phi1 into phi1
27.267 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
27.267 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
27.267 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
27.267 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
27.267 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
27.268 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
27.268 * [backup-simplify]: Simplify (- 0) into 0
27.268 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
27.268 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ phi2 phi1))) 2) in phi2
27.268 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ phi2 phi1))) in phi2
27.268 * [taylor]: Taking taylor expansion of (* 0.5 (+ phi2 phi1)) in phi2
27.268 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.268 * [backup-simplify]: Simplify 0.5 into 0.5
27.268 * [taylor]: Taking taylor expansion of (+ phi2 phi1) in phi2
27.268 * [taylor]: Taking taylor expansion of phi2 in phi2
27.268 * [backup-simplify]: Simplify 0 into 0
27.268 * [backup-simplify]: Simplify 1 into 1
27.268 * [taylor]: Taking taylor expansion of phi1 in phi2
27.268 * [backup-simplify]: Simplify phi1 into phi1
27.268 * [backup-simplify]: Simplify (+ 0 phi1) into phi1
27.269 * [backup-simplify]: Simplify (* 0.5 phi1) into (* 0.5 phi1)
27.269 * [backup-simplify]: Simplify (cos (* 0.5 phi1)) into (cos (* 0.5 phi1))
27.269 * [backup-simplify]: Simplify (sin (* 0.5 phi1)) into (sin (* 0.5 phi1))
27.269 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) 1) into (cos (* 0.5 phi1))
27.269 * [backup-simplify]: Simplify (* (sin (* 0.5 phi1)) 0) into 0
27.269 * [backup-simplify]: Simplify (- 0) into 0
27.269 * [backup-simplify]: Simplify (+ (cos (* 0.5 phi1)) 0) into (cos (* 0.5 phi1))
27.270 * [backup-simplify]: Simplify (* (cos (* 0.5 phi1)) (cos (* 0.5 phi1))) into (pow (cos (* 0.5 phi1)) 2)
27.270 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
27.270 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
27.270 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
27.270 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.270 * [backup-simplify]: Simplify 0.5 into 0.5
27.270 * [taylor]: Taking taylor expansion of phi1 in phi1
27.270 * [backup-simplify]: Simplify 0 into 0
27.270 * [backup-simplify]: Simplify 1 into 1
27.270 * [backup-simplify]: Simplify (* 0.5 0) into 0
27.272 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
27.272 * [backup-simplify]: Simplify (* 1 1) into 1
27.272 * [backup-simplify]: Simplify 1 into 1
27.272 * [backup-simplify]: Simplify (+ 0) into 0
27.273 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) 0) (* 0 1)) into 0
27.273 * [backup-simplify]: Simplify (+ 1 0) into 1
27.274 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 phi1)) into 0.5
27.276 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
27.277 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0.5) (* 0 0)) into (* 0.5 (sin (* 0.5 phi1)))
27.277 * [backup-simplify]: Simplify (- (* 0.5 (sin (* 0.5 phi1)))) into (- (* 0.5 (sin (* 0.5 phi1))))
27.277 * [backup-simplify]: Simplify (+ 0 (- (* 0.5 (sin (* 0.5 phi1))))) into (- (* 0.5 (sin (* 0.5 phi1))))
27.277 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.5 (sin (* 0.5 phi1)))) (cos (* 0.5 phi1)))) into (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))
27.277 * [taylor]: Taking taylor expansion of (- (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))) in phi1
27.277 * [taylor]: Taking taylor expansion of (* 1.0 (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))) in phi1
27.277 * [taylor]: Taking taylor expansion of 1.0 in phi1
27.277 * [backup-simplify]: Simplify 1.0 into 1.0
27.277 * [taylor]: Taking taylor expansion of (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))) in phi1
27.277 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
27.277 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
27.277 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.277 * [backup-simplify]: Simplify 0.5 into 0.5
27.277 * [taylor]: Taking taylor expansion of phi1 in phi1
27.277 * [backup-simplify]: Simplify 0 into 0
27.277 * [backup-simplify]: Simplify 1 into 1
27.278 * [backup-simplify]: Simplify (* 0.5 0) into 0
27.278 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
27.278 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
27.278 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
27.278 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.278 * [backup-simplify]: Simplify 0.5 into 0.5
27.279 * [taylor]: Taking taylor expansion of phi1 in phi1
27.279 * [backup-simplify]: Simplify 0 into 0
27.279 * [backup-simplify]: Simplify 1 into 1
27.279 * [backup-simplify]: Simplify (* 0.5 0) into 0
27.285 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
27.285 * [backup-simplify]: Simplify (* 1 0) into 0
27.286 * [backup-simplify]: Simplify (* 1.0 0) into 0
27.286 * [backup-simplify]: Simplify (- 0) into 0
27.286 * [backup-simplify]: Simplify 0 into 0
27.286 * [backup-simplify]: Simplify (+ 0) into 0
27.287 * [backup-simplify]: Simplify (+ (* 1 0) (* 0 1)) into 0
27.287 * [backup-simplify]: Simplify 0 into 0
27.289 * [backup-simplify]: Simplify (+ (* -1 (/ (pow 0.5 2) 2)) 0) into (- 0.125)
27.290 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- 0.125)) (+ (* 0 0) (* 0 1))) into (- (* 0.125 (cos (* 0.5 phi1))))
27.290 * [backup-simplify]: Simplify (+ 0 0) into 0
27.290 * [backup-simplify]: Simplify (+ (* 0.5 0) (+ (* 0 1) (* 0 phi1))) into 0
27.291 * [backup-simplify]: Simplify (+ 0 (* 1 (/ (pow 0 1) 1))) into 0
27.291 * [backup-simplify]: Simplify (+ (* (sin (* 0.5 phi1)) 0) (+ (* 0 0.5) (* 0 0))) into 0
27.292 * [backup-simplify]: Simplify (- 0) into 0
27.292 * [backup-simplify]: Simplify (+ (- (* 0.125 (cos (* 0.5 phi1)))) 0) into (- (* 0.125 (cos (* 0.5 phi1))))
27.292 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 phi1)) (- (* 0.125 (cos (* 0.5 phi1))))) (+ (* (- (* 0.5 (sin (* 0.5 phi1)))) (- (* 0.5 (sin (* 0.5 phi1))))) (* (- (* 0.125 (cos (* 0.5 phi1)))) (cos (* 0.5 phi1))))) into (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2)))
27.292 * [taylor]: Taking taylor expansion of (- (* 0.25 (pow (sin (* 0.5 phi1)) 2)) (* 0.25 (pow (cos (* 0.5 phi1)) 2))) in phi1
27.292 * [taylor]: Taking taylor expansion of (* 0.25 (pow (sin (* 0.5 phi1)) 2)) in phi1
27.292 * [taylor]: Taking taylor expansion of 0.25 in phi1
27.292 * [backup-simplify]: Simplify 0.25 into 0.25
27.292 * [taylor]: Taking taylor expansion of (pow (sin (* 0.5 phi1)) 2) in phi1
27.292 * [taylor]: Taking taylor expansion of (sin (* 0.5 phi1)) in phi1
27.292 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
27.292 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.292 * [backup-simplify]: Simplify 0.5 into 0.5
27.292 * [taylor]: Taking taylor expansion of phi1 in phi1
27.292 * [backup-simplify]: Simplify 0 into 0
27.292 * [backup-simplify]: Simplify 1 into 1
27.293 * [backup-simplify]: Simplify (* 0.5 0) into 0
27.294 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
27.295 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
27.295 * [taylor]: Taking taylor expansion of (* 0.25 (pow (cos (* 0.5 phi1)) 2)) in phi1
27.295 * [taylor]: Taking taylor expansion of 0.25 in phi1
27.295 * [backup-simplify]: Simplify 0.25 into 0.25
27.295 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 phi1)) 2) in phi1
27.295 * [taylor]: Taking taylor expansion of (cos (* 0.5 phi1)) in phi1
27.295 * [taylor]: Taking taylor expansion of (* 0.5 phi1) in phi1
27.295 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.295 * [backup-simplify]: Simplify 0.5 into 0.5
27.295 * [taylor]: Taking taylor expansion of phi1 in phi1
27.295 * [backup-simplify]: Simplify 0 into 0
27.295 * [backup-simplify]: Simplify 1 into 1
27.296 * [backup-simplify]: Simplify (* 0.5 0) into 0
27.296 * [backup-simplify]: Simplify (+ (* 0.5 1) (* 0 0)) into 0.5
27.297 * [backup-simplify]: Simplify (* 1 1) into 1
27.297 * [backup-simplify]: Simplify (* 0.25 1) into 0.25
27.297 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
27.298 * [backup-simplify]: Simplify (+ 0 (- 0.25)) into (- 0.25)
27.298 * [backup-simplify]: Simplify (- 0.25) into (- 0.25)
27.300 * [backup-simplify]: Simplify (+ (* 1 (/ (pow 0.5 1) 1))) into 0.5
27.300 * [backup-simplify]: Simplify (+ 0) into 0
27.301 * [backup-simplify]: Simplify (+ (* 1 0.5) (* 0 0)) into 0.5
27.302 * [backup-simplify]: Simplify (+ (* 1.0 0.5) (* 0 0)) into 0.5
27.302 * [backup-simplify]: Simplify (- 0.5) into (- 0.5)
27.302 * [backup-simplify]: Simplify (- 0.5) into (- 0.5)
27.303 * [backup-simplify]: Simplify (+ (* (- 0.5) (* phi1 phi2)) (+ (* (- 0.25) (pow (* 1 phi2) 2)) 1)) into (- 1 (+ (* 0.5 (* phi2 phi1)) (* 0.25 (pow phi2 2))))
27.303 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi2) (/ 1 phi1)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
27.303 * [approximate]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in (phi2 phi1) around 0
27.303 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
27.303 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
27.303 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
27.303 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.303 * [backup-simplify]: Simplify 0.5 into 0.5
27.303 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
27.303 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
27.303 * [taylor]: Taking taylor expansion of phi1 in phi1
27.303 * [backup-simplify]: Simplify 0 into 0
27.303 * [backup-simplify]: Simplify 1 into 1
27.304 * [backup-simplify]: Simplify (/ 1 1) into 1
27.304 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
27.304 * [taylor]: Taking taylor expansion of phi2 in phi1
27.304 * [backup-simplify]: Simplify phi2 into phi2
27.304 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
27.304 * [backup-simplify]: Simplify (+ 1 0) into 1
27.304 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
27.304 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
27.304 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
27.304 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
27.304 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
27.304 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.304 * [backup-simplify]: Simplify 0.5 into 0.5
27.304 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
27.304 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
27.305 * [taylor]: Taking taylor expansion of phi1 in phi2
27.305 * [backup-simplify]: Simplify phi1 into phi1
27.305 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
27.305 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
27.305 * [taylor]: Taking taylor expansion of phi2 in phi2
27.305 * [backup-simplify]: Simplify 0 into 0
27.305 * [backup-simplify]: Simplify 1 into 1
27.305 * [backup-simplify]: Simplify (/ 1 1) into 1
27.305 * [backup-simplify]: Simplify (+ 0 1) into 1
27.305 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
27.306 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
27.306 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
27.306 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
27.306 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
27.306 * [taylor]: Taking taylor expansion of 0.5 in phi2
27.306 * [backup-simplify]: Simplify 0.5 into 0.5
27.306 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
27.306 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
27.306 * [taylor]: Taking taylor expansion of phi1 in phi2
27.306 * [backup-simplify]: Simplify phi1 into phi1
27.306 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
27.306 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
27.306 * [taylor]: Taking taylor expansion of phi2 in phi2
27.306 * [backup-simplify]: Simplify 0 into 0
27.306 * [backup-simplify]: Simplify 1 into 1
27.306 * [backup-simplify]: Simplify (/ 1 1) into 1
27.306 * [backup-simplify]: Simplify (+ 0 1) into 1
27.307 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
27.307 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
27.307 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
27.307 * [taylor]: Taking taylor expansion of (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
27.307 * [taylor]: Taking taylor expansion of (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
27.307 * [taylor]: Taking taylor expansion of (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
27.307 * [taylor]: Taking taylor expansion of 0.5 in phi1
27.307 * [backup-simplify]: Simplify 0.5 into 0.5
27.307 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
27.307 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
27.307 * [taylor]: Taking taylor expansion of phi1 in phi1
27.307 * [backup-simplify]: Simplify 0 into 0
27.307 * [backup-simplify]: Simplify 1 into 1
27.307 * [backup-simplify]: Simplify (/ 1 1) into 1
27.308 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
27.308 * [taylor]: Taking taylor expansion of phi2 in phi1
27.308 * [backup-simplify]: Simplify phi2 into phi2
27.308 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
27.308 * [backup-simplify]: Simplify (+ 1 0) into 1
27.308 * [backup-simplify]: Simplify (* 0.5 1) into 0.5
27.308 * [backup-simplify]: Simplify (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))
27.309 * [backup-simplify]: Simplify (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
27.309 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
27.309 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
27.309 * [taylor]: Taking taylor expansion of 0 in phi1
27.309 * [backup-simplify]: Simplify 0 into 0
27.309 * [backup-simplify]: Simplify 0 into 0
27.309 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
27.309 * [backup-simplify]: Simplify 0 into 0
27.310 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
27.310 * [taylor]: Taking taylor expansion of 0 in phi1
27.310 * [backup-simplify]: Simplify 0 into 0
27.310 * [backup-simplify]: Simplify 0 into 0
27.310 * [backup-simplify]: Simplify 0 into 0
27.310 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
27.310 * [backup-simplify]: Simplify 0 into 0
27.311 * [backup-simplify]: Simplify (+ (* (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* 0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
27.311 * [taylor]: Taking taylor expansion of 0 in phi1
27.311 * [backup-simplify]: Simplify 0 into 0
27.311 * [backup-simplify]: Simplify 0 into 0
27.311 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 (/ 1 phi1)) (/ 1 (/ 1 phi2))))) 2) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
27.312 * [backup-simplify]: Simplify (pow (cos (* 0.5 (+ (/ 1 (- phi2)) (/ 1 (- phi1))))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
27.312 * [approximate]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in (phi2 phi1) around 0
27.312 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
27.312 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
27.312 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
27.312 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.312 * [backup-simplify]: Simplify -0.5 into -0.5
27.312 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
27.312 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
27.312 * [taylor]: Taking taylor expansion of phi1 in phi1
27.312 * [backup-simplify]: Simplify 0 into 0
27.312 * [backup-simplify]: Simplify 1 into 1
27.312 * [backup-simplify]: Simplify (/ 1 1) into 1
27.312 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
27.312 * [taylor]: Taking taylor expansion of phi2 in phi1
27.312 * [backup-simplify]: Simplify phi2 into phi2
27.312 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
27.313 * [backup-simplify]: Simplify (+ 1 0) into 1
27.313 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
27.313 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
27.313 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
27.313 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
27.313 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
27.313 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.313 * [backup-simplify]: Simplify -0.5 into -0.5
27.313 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
27.313 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
27.313 * [taylor]: Taking taylor expansion of phi1 in phi2
27.313 * [backup-simplify]: Simplify phi1 into phi1
27.313 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
27.313 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
27.313 * [taylor]: Taking taylor expansion of phi2 in phi2
27.313 * [backup-simplify]: Simplify 0 into 0
27.313 * [backup-simplify]: Simplify 1 into 1
27.314 * [backup-simplify]: Simplify (/ 1 1) into 1
27.314 * [backup-simplify]: Simplify (+ 0 1) into 1
27.314 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
27.314 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
27.314 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi2
27.314 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi2
27.314 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi2
27.314 * [taylor]: Taking taylor expansion of -0.5 in phi2
27.314 * [backup-simplify]: Simplify -0.5 into -0.5
27.314 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi2
27.314 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi2
27.314 * [taylor]: Taking taylor expansion of phi1 in phi2
27.315 * [backup-simplify]: Simplify phi1 into phi1
27.315 * [backup-simplify]: Simplify (/ 1 phi1) into (/ 1 phi1)
27.315 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi2
27.315 * [taylor]: Taking taylor expansion of phi2 in phi2
27.315 * [backup-simplify]: Simplify 0 into 0
27.315 * [backup-simplify]: Simplify 1 into 1
27.315 * [backup-simplify]: Simplify (/ 1 1) into 1
27.315 * [backup-simplify]: Simplify (+ 0 1) into 1
27.315 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
27.316 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
27.316 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
27.316 * [taylor]: Taking taylor expansion of (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) in phi1
27.316 * [taylor]: Taking taylor expansion of (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) in phi1
27.316 * [taylor]: Taking taylor expansion of (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))) in phi1
27.316 * [taylor]: Taking taylor expansion of -0.5 in phi1
27.316 * [backup-simplify]: Simplify -0.5 into -0.5
27.316 * [taylor]: Taking taylor expansion of (+ (/ 1 phi1) (/ 1 phi2)) in phi1
27.316 * [taylor]: Taking taylor expansion of (/ 1 phi1) in phi1
27.316 * [taylor]: Taking taylor expansion of phi1 in phi1
27.316 * [backup-simplify]: Simplify 0 into 0
27.316 * [backup-simplify]: Simplify 1 into 1
27.316 * [backup-simplify]: Simplify (/ 1 1) into 1
27.316 * [taylor]: Taking taylor expansion of (/ 1 phi2) in phi1
27.316 * [taylor]: Taking taylor expansion of phi2 in phi1
27.316 * [backup-simplify]: Simplify phi2 into phi2
27.316 * [backup-simplify]: Simplify (/ 1 phi2) into (/ 1 phi2)
27.317 * [backup-simplify]: Simplify (+ 1 0) into 1
27.317 * [backup-simplify]: Simplify (* -0.5 1) into -0.5
27.317 * [backup-simplify]: Simplify (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) into (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))
27.317 * [backup-simplify]: Simplify (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
27.317 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2) into (pow (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 2)
27.318 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
27.318 * [taylor]: Taking taylor expansion of 0 in phi1
27.318 * [backup-simplify]: Simplify 0 into 0
27.318 * [backup-simplify]: Simplify 0 into 0
27.318 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))) into 0
27.318 * [backup-simplify]: Simplify 0 into 0
27.319 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
27.319 * [taylor]: Taking taylor expansion of 0 in phi1
27.319 * [backup-simplify]: Simplify 0 into 0
27.319 * [backup-simplify]: Simplify 0 into 0
27.319 * [backup-simplify]: Simplify 0 into 0
27.319 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2))))))) into 0
27.319 * [backup-simplify]: Simplify 0 into 0
27.320 * [backup-simplify]: Simplify (+ (* (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))) 0) (+ (* 0 0) (+ (* 0 0) (* 0 (cos (* -0.5 (+ (/ 1 phi1) (/ 1 phi2)))))))) into 0
27.320 * [taylor]: Taking taylor expansion of 0 in phi1
27.320 * [backup-simplify]: Simplify 0 into 0
27.320 * [backup-simplify]: Simplify 0 into 0
27.320 * [backup-simplify]: Simplify (pow (cos (* -0.5 (+ (/ 1 (/ 1 (- phi1))) (/ 1 (/ 1 (- phi2)))))) 2) into (pow (cos (* 0.5 (+ phi2 phi1))) 2)
27.320 * * * [progress]: simplifying candidates
27.326 * [simplify]: Simplifying:
  (log (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (exp (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (* (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (* (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (sqrt (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt 1)
  (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))) (+ phi1 phi2))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ phi1 phi2) (+ (* phi1 phi1) (+ (* phi2 phi2) (* phi1 phi2))))))
  (sqrt (+ (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (* (+ phi1 phi2) (+ phi1 phi2))) (* (+ (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2))))))
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  (- (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (* (log (cos (* 0.5 (+ phi2 phi1)))) 2)
  (* (log (cos (* 0.5 (+ phi2 phi1)))) 2)
  (* 1 2)
  (pow (cos (* 0.5 (+ phi2 phi1))) (* (cbrt 2) (cbrt 2)))
  (pow (cos (* 0.5 (+ phi2 phi1))) (sqrt 2))
  (pow (cos (* 0.5 (+ phi2 phi1))) 1)
  (pow (* (cbrt (cos (* 0.5 (+ phi2 phi1)))) (cbrt (cos (* 0.5 (+ phi2 phi1))))) 2)
  (pow (cbrt (cos (* 0.5 (+ phi2 phi1)))) 2)
  (pow (sqrt (cos (* 0.5 (+ phi2 phi1)))) 2)
  (pow (sqrt (cos (* 0.5 (+ phi2 phi1)))) 2)
  (pow 1 2)
  (pow (cos (* 0.5 (+ phi2 phi1))) 2)
  (log (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (exp (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (* (cbrt (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (cbrt (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
  (cbrt (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (sqrt (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (sqrt (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (pow (cos (* 0.5 (+ phi2 phi1))) (/ 2 2))
  (pow (cos (* 0.5 (+ phi2 phi1))) (/ 2 2))
  (- lambda1 lambda2)
  (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))) (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2)))))))))))))
  (+ (* (/ (* phi2 phi1) lambda2) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (+ (* (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1)))))))))) (* (/ (* phi2 (* lambda1 (* phi1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) (pow lambda2 2))) (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))))))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
  (- (+ (* (pow (sin (* 0.5 phi1)) 2) (* (pow (sin (* 0.5 phi2)) 2) (pow lambda1 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (cos (* 0.5 phi2)) 2))) (+ (* (pow (cos (* 0.5 phi1)) 2) (* (pow (cos (* 0.5 phi2)) 2) (pow lambda1 2))) (* (pow (sin (* 0.5 phi1)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2)))))) (+ (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))) (+ (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (- (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow (sin (* 0.5 phi1)) 2) (pow lambda1 2))) (+ (* (pow (sin (* 0.5 phi2)) 2) (* (pow lambda2 2) (pow (sin (* 0.5 phi1)) 2))) (+ (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda1 2))) (* (pow (cos (* 0.5 phi2)) 2) (* (pow (cos (* 0.5 phi1)) 2) (pow lambda2 2)))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))))))))
  (- 1 (+ (* 0.5 (* phi2 phi1)) (* 0.25 (pow phi2 2))))
  (pow (cos (* 0.5 (+ phi2 phi1))) 2)
  (pow (cos (* 0.5 (+ phi2 phi1))) 2)
27.350 * * [simplify]: Extracting # 0 : cost  0
27.350 * * [simplify]: Extracting # 1 : cost  0
27.351 * * [simplify]: Extracting # 2 : cost  0
27.351 * * [simplify]: Extracting # 3 : cost  0
27.352 * * [simplify]: Extracting # 4 : cost  0
27.353 * * [simplify]: Extracting # 5 : cost  0
27.354 * * [simplify]: Extracting # 6 : cost  0
27.355 * * [simplify]: Extracting # 7 : cost  0
27.356 * * [simplify]: Extracting # 8 : cost  0
27.357 * * [simplify]: Extracting # 9 : cost  0
27.358 * * [simplify]: Extracting # 10 : cost  0
27.359 * * [simplify]: Extracting # 11 : cost  0
27.360 * * [simplify]: Extracting # 12 : cost  0
27.361 * * [simplify]: Extracting # 13 : cost  0
27.362 * * [simplify]: Extracting # 14 : cost  0
27.363 * * [simplify]: Extracting # 15 : cost  0
27.364 * * [simplify]: Extracting # 16 : cost  0
27.365 * * [simplify]: iteration  0 :  349  enodes  (cost  10783 )
27.519 * * [simplify]: Extracting # 0 : cost  0
27.522 * * [simplify]: Extracting # 1 : cost  0
27.525 * * [simplify]: Extracting # 2 : cost  0
27.527 * * [simplify]: Extracting # 3 : cost  0
27.529 * * [simplify]: Extracting # 4 : cost  0
27.532 * * [simplify]: Extracting # 5 : cost  0
27.534 * * [simplify]: iteration  1 :  995  enodes  (cost  9999 )
27.923 * * [simplify]: Extracting # 0 : cost  0
27.928 * * [simplify]: Extracting # 1 : cost  0
27.938 * * [simplify]: Extracting # 2 : cost  0
27.952 * * [simplify]: Extracting # 3 : cost  0
27.974 * * [simplify]: Extracting # 4 : cost  0
27.988 * * [simplify]: iteration done:  5000  enodes  (cost  9811 )
27.993 * [simplify]: Simplified to:
  (log (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (exp (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
  (cbrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (pow (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))) 3)
  (fabs (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (cbrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  1
  (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  (sqrt (+ (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3)))) (* (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (* (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))))
  (sqrt (+ (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2)))) (* (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ phi1 phi2)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (* (* (+ phi1 phi2) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))))
  (sqrt (+ (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2)))) (* (* (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)) (+ phi1 phi2)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (* (* (+ phi1 phi2) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))))
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  (sqrt (+ (* (* (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))))) (- phi1 phi2)) (- (pow phi1 3) (pow phi2 3))) (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3)))))
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  (sqrt (* (+ phi1 phi2) (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))))))
  (sqrt (+ (* (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- (pow phi1 3) (pow phi2 3))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)))))
  (sqrt (+ (* (* (+ phi1 phi2) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))))
  (sqrt (+ (* (* (+ phi1 phi2) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- (* phi1 phi1) (* phi2 phi2))))))
  (sqrt (* (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)) (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1))))
  (sqrt (+ (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (* phi1 phi1) (* phi2 phi2)) (- (* phi1 phi1) (* phi2 phi2)))) (* (* (+ phi1 phi2) (+ phi1 phi2)) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (+ phi1 phi2) (+ phi1 phi2))))
  (sqrt (+ (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (+ (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2)))) (* (+ phi1 phi2) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)))
  (sqrt (+ (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))) (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- (pow phi1 3) (pow phi2 3)) (- phi1 phi2)))))
  (sqrt (* (+ (* phi2 (+ phi2 phi1)) (* phi1 phi1)) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (sqrt (+ (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- (* phi1 phi1) (* phi2 phi2)))) (* (+ phi1 phi2) (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))))
  (sqrt (* (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (+ phi1 phi2)))
  (sqrt (+ (pow (- phi1 phi2) (* 2 3)) (pow (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3)))
  (sqrt (+ (* (- phi1 phi2) (- (pow (- phi1 phi2) 3) (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- phi1 phi2)))) (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))))
  (sqrt (- (* (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (pow (- phi1 phi2) 3) (- phi1 phi2))))
  (sqrt (- (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))
  1/2
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2)))))
  (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (* (cos (* phi2 0.5)) (cos (* phi1 0.5)))
  (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))
  (log (cos (* 0.5 (+ phi2 phi1))))
  (exp (cos (* 0.5 (+ phi2 phi1))))
  (pow (cbrt (cos (* 0.5 (+ phi2 phi1)))) 2)
  (cbrt (cos (* 0.5 (+ phi2 phi1))))
  (pow (cos (* 0.5 (+ phi2 phi1))) 3)
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (sqrt (cos (* 0.5 (+ phi2 phi1))))
  (exp (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (exp (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (log (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (exp (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (* (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))))
  (cbrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (pow (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) 3)
  (sqrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (sqrt (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (- (pow (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) 3) (pow (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) 3))
  (+ (* (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))))
  (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
  (- (* (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)))) (* 4 (* (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))))
  (+ (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (- (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2)) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))
  (* -2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))
  (* (log (cos (* 0.5 (+ phi2 phi1)))) 2)
  (* (log (cos (* 0.5 (+ phi2 phi1)))) 2)
  2
  (pow (cos (* 0.5 (+ phi2 phi1))) (* (cbrt 2) (cbrt 2)))
  (pow (cos (* 0.5 (+ phi2 phi1))) (sqrt 2))
  (cos (* 0.5 (+ phi2 phi1)))
  (pow (pow (cbrt (cos (* 0.5 (+ phi2 phi1)))) 2) 2)
  (pow (cbrt (cos (* 0.5 (+ phi2 phi1)))) 2)
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  1
  (pow (cos (* 0.5 (+ phi2 phi1))) 2)
  (log (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (exp (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (* (cbrt (pow (cos (* 0.5 (+ phi2 phi1))) 2)) (cbrt (pow (cos (* 0.5 (+ phi2 phi1))) 2)))
  (cbrt (pow (cos (* 0.5 (+ phi2 phi1))) 2))
  (pow (pow (cos (* 0.5 (+ phi2 phi1))) 2) 3)
  (fabs (cos (* 0.5 (+ phi2 phi1))))
  (fabs (cos (* 0.5 (+ phi2 phi1))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- lambda1 lambda2)
  (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))
  (* (sqrt (/ 1 (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi1)) (sin (* 0.5 phi1))))))))) (+ (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 (* lambda1 (* phi1 (pow (cos (* 0.5 (+ phi2 phi1))) 2)))) (* (- (+ (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (* (pow (sin (* 0.5 phi2)) 2) (pow (sin (* 0.5 phi1)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) (pow lambda2 2)))) (/ (* phi2 phi1) lambda2)))
  (- 1 (+ (* 0.25 (* phi2 phi1)) (* 0.125 (pow phi2 2))))
  (cos (* 0.5 (+ phi2 phi1)))
  (cos (* 0.5 (+ phi2 phi1)))
  (- (+ (pow lambda1 2) (pow lambda2 2)) (* 2 (* lambda2 lambda1)))
  (- (- (+ (* (pow (sin (* 0.5 phi1)) 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2)))) (* (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (+ (pow lambda1 2) (pow lambda2 2)))) (* 2 (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2))))) (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (pow lambda2 2) (* (sin (* 0.5 phi2)) (cos (* 0.5 phi2))))))))
  (- (+ (* (pow (sin (* 0.5 phi1)) 2) (+ (* (pow (sin (* 0.5 phi2)) 2) (pow lambda1 2)) (* (pow lambda2 2) (pow (sin (* 0.5 phi2)) 2)))) (- (* (* (pow (cos (* 0.5 phi2)) 2) (pow (cos (* 0.5 phi1)) 2)) (+ (pow lambda1 2) (pow lambda2 2))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda2 2))))))) (+ (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (pow lambda2 2))))) (+ (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi2)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi1)) (pow lambda1 2))))) (+ (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1))) (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (* (sin (* 0.5 phi2)) (pow lambda1 2)))))))))
  (- 1 (+ (* 0.5 (* phi2 phi1)) (* 0.25 (pow phi2 2))))
  (pow (cos (* 0.5 (+ phi2 phi1))) 2)
  (pow (cos (* 0.5 (+ phi2 phi1))) 2)
27.996 * * * [progress]: adding candidates to table
29.198 * [progress]: [Phase 3 of 3] Extracting.
29.198 * * [regime]: Finding splitpoints for: (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
29.248 * * * [regime-changes]: Trying 9 branch expressions: ((- lambda1 lambda2) (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) phi2 phi1 lambda2 lambda1 R)
29.248 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
29.409 * * * * [regimes]: Trying to branch on (- lambda1 lambda2) from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))>)
29.435 * * * * [regimes]: Trying to branch on (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))) from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
29.613 * * * * [regimes]: Trying to branch on (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2)))) from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
29.729 * * * * [regimes]: Trying to branch on (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
29.840 * * * * [regimes]: Trying to branch on phi2 from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
30.020 * * * * [regimes]: Trying to branch on phi1 from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
30.213 * * * * [regimes]: Trying to branch on lambda2 from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
30.392 * * * * [regimes]: Trying to branch on lambda1 from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
30.537 * * * * [regimes]: Trying to branch on R from (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
30.741 * * * [regime]: Found split indices: #<option (#s(si 5 69) #s(si 2 171) #s(si 5 255))>
30.743 * [binary-search]: Only using regimes for bounds on (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) and (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
30.744 * [regimes]: Found splitpoints: (#s(sp 5 (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) -inf.0) #s(sp 2 (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 2.1244456603133056e+281) #s(sp 5 (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) +nan.0)) , with alts (#<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1))))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 phi1) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))) (+ (* (cos (* 0.5 (+ phi2 phi1))) lambda1) (/ (* phi2 (* lambda1 phi1)) (* (pow lambda2 2) (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- lambda1 lambda2)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- phi2 phi1)))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (/ (* phi2 (* lambda2 phi1)) (* (cos (* 0.5 (+ phi2 phi1))) (pow lambda1 2))) (+ (/ (* phi2 phi1) (* (cos (* 0.5 (+ phi2 phi1))) lambda1)) (* lambda2 (cos (* 0.5 (+ phi2 phi1)))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (* (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (sqrt (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))))> #<alt (λ (R lambda1 lambda2 phi1 phi2) (* R (- (+ (* (/ (* phi2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) (* lambda1 phi1))) (pow lambda2 2)) (sqrt (/ 1 (pow (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))) 3)))) (* (sqrt (/ 1 (- (+ (* (pow (sin (* 0.5 phi1)) 2) (pow (sin (* 0.5 phi2)) 2)) (* (pow (cos (* 0.5 phi1)) 2) (pow (cos (* 0.5 phi2)) 2))) (* 2 (* (cos (* 0.5 phi1)) (* (sin (* 0.5 phi1)) (* (cos (* 0.5 phi2)) (sin (* 0.5 phi2))))))))) (+ (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1) (/ (* phi2 phi1) lambda2)))))))>)
30.744 * [simplify]: Simplifying:
  (if (<= (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) -inf.0) (* R (- phi2 phi1)) (if (<= (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 2.1244456603133056e+281) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))) (* R (- phi2 phi1))))
30.745 * * [simplify]: Extracting # 0 : cost  0
30.745 * * [simplify]: Extracting # 1 : cost  0
30.745 * * [simplify]: Extracting # 2 : cost  0
30.745 * * [simplify]: Extracting # 3 : cost  0
30.745 * * [simplify]: Extracting # 4 : cost  0
30.745 * * [simplify]: Extracting # 5 : cost  0
30.745 * * [simplify]: Extracting # 6 : cost  0
30.745 * * [simplify]: Extracting # 7 : cost  0
30.745 * * [simplify]: Extracting # 8 : cost  0
30.745 * * [simplify]: Extracting # 9 : cost  0
30.745 * * [simplify]: Extracting # 10 : cost  0
30.745 * * [simplify]: Extracting # 11 : cost  0
30.745 * * [simplify]: Extracting # 12 : cost  0
30.745 * * [simplify]: Extracting # 13 : cost  0
30.745 * * [simplify]: Extracting # 14 : cost  0
30.745 * * [simplify]: Extracting # 15 : cost  0
30.746 * * [simplify]: Extracting # 16 : cost  0
30.746 * * [simplify]: Extracting # 17 : cost  0
30.746 * * [simplify]: Extracting # 18 : cost  0
30.746 * * [simplify]: Extracting # 19 : cost  0
30.746 * * [simplify]: Extracting # 20 : cost  0
30.746 * * [simplify]: Extracting # 21 : cost  0
30.746 * * [simplify]: Extracting # 22 : cost  0
30.746 * * [simplify]: Extracting # 23 : cost  0
30.746 * * [simplify]: iteration  0 :  60  enodes  (cost  157 )
30.749 * * [simplify]: Extracting # 0 : cost  0
30.749 * * [simplify]: Extracting # 1 : cost  0
30.749 * * [simplify]: Extracting # 2 : cost  0
30.749 * * [simplify]: Extracting # 3 : cost  0
30.749 * * [simplify]: Extracting # 4 : cost  0
30.750 * * [simplify]: iteration  1 :  79  enodes  (cost  153 )
30.753 * * [simplify]: Extracting # 0 : cost  0
30.756 * * [simplify]: iteration  2 :  80  enodes  (cost  153 )
30.760 * * [simplify]: Extracting # 0 : cost  0
30.760 * * [simplify]: iteration done:  80  enodes  (cost  153 )
30.760 * [simplify]: Simplified to:
  (if (or (<= (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) -inf.0) (not (<= (* R (sqrt (+ (* (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0))) (* (- lambda1 lambda2) (cos (/ (+ phi1 phi2) 2.0)))) (* (- phi1 phi2) (- phi1 phi2))))) 2.1244456603133056e+281))) (* R (- phi2 phi1)) (* R (sqrt (+ (- (+ (* (pow lambda2 2) (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* 0.5 phi2)) (sin (* 0.5 phi1)))) 2)) (* (pow (- (* (cos (* 0.5 phi2)) (cos (* 0.5 phi1))) (* (sin (* phi2 0.5)) (sin (* phi1 0.5)))) 2) (pow lambda1 2))) (* 2 (* lambda2 (* (pow (cos (* 0.5 (+ phi2 phi1))) 2) lambda1)))) (* (- phi1 phi2) (- phi1 phi2))))))
37.982 * [regime-testing]: Baseline error score: 38.14945916436727
37.987 * [regime-testing]: Oracle error score: 19.617610640091808
37.993 * [regime-testing]: End program error score: 28.707730587774655